diff --git a/ebpfcat/ebpfcat.py b/ebpfcat/ebpfcat.py
index 12e1e941d97fb206ccd4c6972463403a5593e98d..5bb9e438ebf8d325500edbcaf4d67694ff42ce87 100644
--- a/ebpfcat/ebpfcat.py
+++ b/ebpfcat/ebpfcat.py
@@ -16,7 +16,7 @@
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
"""The high-level API for EtherCAT loops"""
-from asyncio import ensure_future, gather, wait_for, TimeoutError
+from asyncio import ensure_future, gather, sleep, wait_for, TimeoutError
from contextlib import asynccontextmanager, contextmanager
import os
from struct import pack, unpack, calcsize, pack_into, unpack_from
@@ -220,12 +220,13 @@ class EBPFTerminal(Terminal):
if (self.compatibility is not None and
(self.vendorId, self.productCode) not in self.compatibility):
raise RuntimeError(
- f"Incompatible Terminal: {self.vendorId}:{self.productCode} "
- f"({relative}, {absolute})")
- await self.to_operational()
+ f"Incompatible Terminal: {self.vendorId}:{self.productCode}")
+ await self.to_operational(2)
self.pdos = {}
- if self.has_mailbox():
- await self.parse_pdos()
+ outbits, inbits = await self.parse_pdos()
+ self.pdo_out_sz = int((outbits + 7) // 8)
+ self.pdo_in_sz = int((inbits + 7) // 8)
+ await self.write_pdo_sm()
def allocate(self, packet, readonly):
"""allocate space in packet for the pdos of this terminal
@@ -350,6 +351,8 @@ class FastEtherCat(SimpleEtherCat):
class SyncGroupBase:
missed_counter = 0
+ current_data = None
+
def __init__(self, ec, devices, **kwargs):
super().__init__(**kwargs)
self.ec = ec
@@ -363,6 +366,9 @@ class SyncGroupBase:
self.terminals = {t: None for t in
sorted(terminals, key=lambda t: t.position)}
+ async def to_operational(self):
+ await gather(*[t.to_operational() for t in self.terminals])
+
async def run(self):
data = self.asm_packet
while True:
@@ -393,7 +399,9 @@ class SyncGroup(SyncGroupBase):
self.packet_index = SyncGroup.packet_index
SyncGroup.packet_index += 1
self.asm_packet = self.packet.assemble(self.packet_index)
- return ensure_future(self.run())
+ ret = ensure_future(self.run())
+ ensure_future(self.to_operational())
+ return ret
def allocate(self):
self.packet = Packet()
@@ -404,8 +412,6 @@ class SyncGroup(SyncGroupBase):
class FastSyncGroup(SyncGroupBase, XDP):
license = "GPL"
- current_data = None
-
properties = ArrayMap()
def __init__(self, ec, devices, **kwargs):
@@ -438,6 +444,7 @@ class FastSyncGroup(SyncGroupBase, XDP):
def start(self):
self.allocate()
self.task = ensure_future(self.run())
+ ensure_future(self.to_operational())
return self.task
def cancel(self):
diff --git a/ebpfcat/ethercat.py b/ebpfcat/ethercat.py
index 4757bb57a36d6ca7adb1dec6f2aa2a4466ecac2b..c2f519d493e01cd2d79ad0c9cdfaf828c0fe9699 100644
--- a/ebpfcat/ethercat.py
+++ b/ebpfcat/ethercat.py
@@ -293,8 +293,10 @@ class EtherCat(Protocol):
if wkc == 0:
future.set_exception(
EtherCatError("datagram was not processed"))
- else:
+ elif not future.done():
future.set_result(data[start:stop])
+ else:
+ print("dropped package")
dgrams = []
packet = Packet()
@@ -450,6 +452,16 @@ class Terminal:
elif mode == 6:
self.mbx_out_off = offset
self.mbx_out_sz = size
+ else:
+ print("wrong mode")
+
+ async def write_pdo_sm(self):
+ await self.write(0x816, "B", 0)
+ await self.write(0x812, "H", self.pdo_out_sz)
+ await self.write(0x816, "B", self.pdo_out_sz > 0)
+ await self.write(0x81E, "B", 0)
+ await self.write(0x81A, "H", self.pdo_in_sz)
+ await self.write(0x81E, "B", self.pdo_in_sz > 0)
async def parse_pdos(self):
async def parse_eeprom(s):
@@ -490,16 +502,18 @@ class Terminal:
(sm, bitpos // 8,
{8: "B", 16: "H", 32: "I", 64: "Q"}[bits])
bitpos += bits
+ return bitpos
self.pdos = {}
if self.has_mailbox():
- await parse(parse_sdo(0x1c12, 2))
- await parse(parse_sdo(0x1c13, 3))
+ return (await parse(parse_sdo(0x1c12, 2)),
+ await parse(parse_sdo(0x1c13, 3)))
else:
- if 50 in self.eeprom:
+ return (
await parse(parse_eeprom(self.eeprom[50]))
- if 51 in self.eeprom:
+ if 50 in self.eeprom else 0,
await parse(parse_eeprom(self.eeprom[51]))
+ if 51 in self.eeprom else 0)
async def parse_pdo(self, index, sm):
assignment = await self.sdo_read(index)
@@ -557,7 +571,7 @@ class Terminal:
0x0130, "H2xH")
if error != 0:
raise EtherCatError(f"AL register {error}")
- if state == target:
+ if state >= target:
return
async def get_error(self):
diff --git a/ebpfcat/ethercat_test.py b/ebpfcat/ethercat_test.py
index a895f3a3934c4f82f05371b8826f53daaf0c9eea..c736d1b448876879669a4a499b434744effde1a4 100644
--- a/ebpfcat/ethercat_test.py
+++ b/ebpfcat/ethercat_test.py
@@ -42,6 +42,8 @@ class MockEtherCat:
async def roundtrip(self, *args, data=None):
if data is not None:
args += data,
+ if not self.expected:
+ self.test.fail(f"missing {args}")
self.test.assertEqual(args, self.expected.pop(0))
return self.results.pop(0)
@@ -64,17 +66,17 @@ class MockEtherCat:
class MockTerminal(Terminal):
async def initialize(self, relative, absolute):
self.position = absolute
- self.operational = False
+ self.operational = 1
data = self.ec.test_data[-relative]
self.test_eeprom = data["eeprom"]
self.test_sdo = data["sdo"]
await self.apply_eeprom()
- async def to_operational(self):
- self.operational = True
+ async def to_operational(self, state=8):
+ self.operational = state
async def sdo_read(self, index, subindex=None):
- assert self.operational
+ assert self.operational >= 2
if subindex is None:
r = b''
for i in count(1):
@@ -119,8 +121,14 @@ class Tests(TestCase):
(ECCmd.FPWR, 4, 0x800, 0x80),
(ECCmd.FPWR, 4, 0x800, H('00108000260001018010800022000102'
'00110000040000038011100020000104')),
+ (ECCmd.FPWR, 4, 2070, 'B', 0), # disable sync manager
+ (ECCmd.FPWR, 4, 2066, 'H', 0), # set sync manager size
+ (ECCmd.FPWR, 4, 2070, 'B', False), # disable 0-length sync manager
+ (ECCmd.FPWR, 4, 2078, 'B', 0), # disable other sync manager
+ (ECCmd.FPWR, 4, 2074, 'H', 16), # set sync manager size
+ (ECCmd.FPWR, 4, 2078, 'B', True), # enable sync manager
]
- ec.results = [None, None]
+ ec.results = [None, None, None, None, None, None, None, None]
await ti.initialize(-1, 4)
ai = AnalogInput(ti.channel1.value)
SyncGroup.packet_index = 0x66554433
@@ -169,8 +177,14 @@ class Tests(TestCase):
(ECCmd.FPWR, 7, 0x800, 0x80),
(ECCmd.FPWR, 7, 0x800, H('0010800026000101801080002200010'
'200110800240001038011000000000004')),
+ (ECCmd.FPWR, 7, 2070, 'B', 0), # disable sync manager
+ (ECCmd.FPWR, 7, 2066, 'H', 8), # set sync manager size
+ (ECCmd.FPWR, 7, 2070, 'B', True), # enable sync manager
+ (ECCmd.FPWR, 7, 2078, 'B', 0), # disable other sync manager
+ (ECCmd.FPWR, 7, 2074, 'H', 0), # set sync manager size
+ (ECCmd.FPWR, 7, 2078, 'B', False), # disable 0-length sync manager
]
- ec.results = [None, None]
+ ec.results = [None, None, None, None, None, None, None, None]
await ti.initialize(-2, 7)
ao = AnalogOutput(ti.ch1_value)
SyncGroup.packet_index = 0x55443322
diff --git a/ebpfcat/scripts.py b/ebpfcat/scripts.py
index 09f9efe1c9d7f4058fb02689c8f174c51a6cc699..3663ced04a66496cfbacf836e1357351298afc15 100644
--- a/ebpfcat/scripts.py
+++ b/ebpfcat/scripts.py
@@ -74,7 +74,7 @@ async def info():
print(f"{k:2}: {v}\n {v.hex()}")
if args.sdo:
- await t.to_operational(4)
+ await t.to_operational(2)
ret = await t.read_ODlist()
for k, v in ret.items():
print(f"{k:X}:")
@@ -91,7 +91,7 @@ async def info():
else:
print(f" {r}")
if args.pdo:
- await t.to_operational(4)
+ await t.to_operational(2)
await t.parse_pdos()
for (idx, subidx), (sm, pos, fmt) in t.pdos.items():
print(f"{idx:4X}:{subidx:02X} {sm} {pos} {fmt}")
@@ -164,7 +164,7 @@ async def create_test():
await t.initialize(-i, await ec.find_free_address())
sdo = {}
if t.has_mailbox():
- await t.to_operational(4)
+ await t.to_operational(2)
odlist = await t.read_ODlist()
for k, v in odlist.items():
diff --git a/ebpfcat/terminals.py b/ebpfcat/terminals.py
index 82f47f049a482d430cd6fbf5eb04c5271b11d6ea..c7a78c8460f03a519422111da51929178e5d4a1c 100644
--- a/ebpfcat/terminals.py
+++ b/ebpfcat/terminals.py
@@ -123,3 +123,22 @@ class EL7041(EBPFTerminal):
status = ProcessDesc(0x6000, 1, "H")
low_switch = ProcessDesc(0x6010, 0xc)
high_switch = ProcessDesc(0x6010, 0xd)
+
+
+class TurboVac(EBPFTerminal):
+ compatibility = {(0x723, 0xb5)}
+ pump_on = ProcessDesc(0x20D3, 0, 0)
+ stand_by = ProcessDesc(0x20D3, 0, 5)
+ reset = ProcessDesc(0x20D3, 0, 7)
+ error_status = ProcessDesc(0x20CA, 0)
+ speed_status = ProcessDesc(0x20CB, 0)
+ pump_is_on = ProcessDesc(0x20CC, 0, 0)
+ pump_warning = ProcessDesc(0x20CC, 0, 2)
+ pump_alarm = ProcessDesc(0x20CC, 0, 3)
+ speed = ProcessDesc(0x20CD, 0, "H")
+ current = ProcessDesc(0x20D1, 0, "H")
+
+
+class Inficon(EBPFTerminal):
+ compatibility = {(0x644, 0x21)}
+ value = ProcessDesc(0xF640, 0x11, "f")