forked from robincornelius/libedssharp
-
Notifications
You must be signed in to change notification settings - Fork 57
/
PDOHelper.cs
651 lines (559 loc) · 23.6 KB
/
PDOHelper.cs
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace libEDSsharp
{
/// <summary>
/// Represent a PDO slot (mapping + communication index)
/// </summary>
public class PDOSlot
{
private UInt16 _MappingIndex;
private UInt16 _ConfigurationIndex;
/// <summary>
/// Indicate that $NODEID is present and the COB-ID should added to the node id when deployed
/// </summary>
public bool nodeidpresent;
/// <summary>
/// The OD index of the PDO configuration (aka. communication parameter)
/// </summary>
public ushort ConfigurationIndex
{
get { return _ConfigurationIndex; }
set {
if(value==0)
{
_ConfigurationIndex = 0;
_MappingIndex = 0;
return;
}
if ( ((value >= 0x1400) && (value < 0x1600)) || ((value >=0x1800) && (value <0x1a00)) )
{
_ConfigurationIndex = value; _MappingIndex = (UInt16)(_ConfigurationIndex + (UInt16)0x200);
}
else
{
throw new ArgumentOutOfRangeException("Configuration Index", "Must be between 0x1400 and 0x17FF ");
}
}
}
/// <summary>
/// The OD index of the PDO mapping
/// </summary>
public ushort MappingIndex
{
get { return _MappingIndex; }
}
/// <summary>
/// PDO Mapping access
/// </summary>
public EDSsharp.AccessType mappingAccessType;
/// <summary>
/// PDO Configuration (aka. communication parameter) access
/// </summary>
public EDSsharp.AccessType configAccessType;
/// <summary>
/// PDO mapping CanOpenNode storage group
/// </summary>
public string mappingloc;
/// <summary>
/// PDO config CanOpenNode storage group
/// </summary>
public string configloc;
/// <summary>
/// PDO COB-ID
/// </summary>
public uint COB;
/// <summary>
/// Returns if true the PDO is a TxPDO (aka TPDO)
/// </summary>
/// <returns>true if TXPDO</returns>
public bool isTXPDO()
{
return ConfigurationIndex >= 0x1800;
}
/// <summary>
/// Returns if true the PDO is a RxPDO (aka RPDO)
/// </summary>
/// <returns>true if RxPDO</returns>
public bool isRXPDO()
{
return ConfigurationIndex < 0x1800;
}
/// <summary>
/// PDO invalid bit value
/// </summary>
public bool invalid
{
get
{
return (COB & 0x80000000) != 0;
}
set
{
if (value == true)
COB = COB | 0x80000000;
else
COB = COB & 0x7FFFFFFF;
}
}
/// <summary>
/// PDO mapping
/// </summary>
public List<ODentry> Mapping = new List<ODentry>();
/// <summary>
/// PDO inhibit time,multiple of 100us
/// </summary>
public UInt16 inhibit;
/// <summary>
/// PDO event time,multiple of 1ms
/// </summary>
public UInt16 eventtimer;
/// <summary>
/// PDO sync start value
/// </summary>
public byte syncstart;
/// <summary>
/// PDO transmission type
/// </summary>
public byte transmissiontype;
/// <summary>
/// Description of PDO communication index (aka configuration)
/// </summary>
public string DescriptionComm;
/// <summary>
/// Description of PDO mapping index
/// </summary>
public string DescriptionMap;
/// <summary>
/// default constructor
/// </summary>
public PDOSlot()
{
configloc = "PERSIST_COMM";
mappingloc = "PERSIST_COMM";
transmissiontype = 254;
Mapping = new List<ODentry>();
DescriptionComm = "";
DescriptionMap = "";
}
/// <summary>
/// Returns name of a OD entry (including dummy)
/// </summary>
/// <param name="od">object dictionary entry</param>
/// <returns>name of entry with index and subindex prefixed, or blank string if not found</returns>
public string getTargetName(ODentry od)
{
string target = "";
if (od.Index >= 0x0002 && od.Index <= 0x007)
{
//the dummy objects
switch (od.Index)
{
case 0x002:
target = "0x0002/00/Dummy Int8";
break;
case 0x003:
target = "0x0003/00/Dummy Int16";
break;
case 0x004:
target = "0x0004/00/Dummy Int32";
break;
case 0x005:
target = "0x0005/00/Dummy UInt8";
break;
case 0x006:
target = "0x0006/00/Dummy UInt16";
break;
case 0x007:
target = "0x0007/00/Dummy UInt32";
break;
}
}
else
{
target = String.Format("0x{0:X4}/{1:X2}/", od.Index, od.Subindex) + od.parameter_name;
}
return target;
}
/// <summary>
/// Insert a OD entry into the mapping table
/// </summary>
/// <param name="ordinal">The zero-based index at which item should be inserted</param>
/// <param name="entry">OD entry to be mapped</param>
public void insertMapping(int ordinal, ODentry entry)
{
int size = 0;
foreach(ODentry e in Mapping)
{
size += e.Sizeofdatatype();
}
if (size + entry.Sizeofdatatype() > 64)
return;
Mapping.Insert(ordinal,entry);
}
}
/// <summary>
/// PDO helper class, control all TPDO and RPDO in a node
/// </summary>
public class PDOHelper
{
EDSsharp eds;
/// <summary>
/// Constructor
/// </summary>
/// <param name="eds">eds data to interact with</param>
public PDOHelper(EDSsharp eds)
{
this.eds = eds;
}
/// <summary>
/// List of all T/R PDO
/// </summary>
public List<PDOSlot> pdoslots = new List<PDOSlot>();
/// <summary>
/// Why is this not called from constructor?
/// </summary>
public void build_PDOlists()
{
//List<ODentry> odl = new List<ODentry>();
build_PDOlist(0x1800,pdoslots);
build_PDOlist(0x1400,pdoslots);
}
/// <summary>
/// Look through the OD and register PDO
/// </summary>
/// <param name="startcob">OD index to to start looking from, it will stop after 0x1ff indexes</param>
/// <param name="slots">list to add found pdo into</param>
void build_PDOlist(UInt16 startcob, List<PDOSlot> slots)
{
for (UInt16 idx = startcob; idx < startcob + 0x01ff; idx++)
{
if (eds.ods.ContainsKey(idx))
{
ODentry od = eds.ods[idx];
if (od.prop.CO_disabled == true)
continue;
//protect against not completed new CommunicationParamater sections
//we probably could do better and do more checking but as long as
//we protect against the subobjects[1] read in a few lines all else is
//good
if (od.subobjects.Count <= 1)
continue;
PDOSlot slot = new PDOSlot();
slot.COB = eds.GetNodeID(od.subobjects[1].defaultvalue, out slot.nodeidpresent);
if (od.Containssubindex(2))
slot.transmissiontype = EDSsharp.ConvertToByte(od.Getsubobject(2).defaultvalue);
if (od.Containssubindex(3))
slot.inhibit = EDSsharp.ConvertToUInt16(od.Getsubobject(3).defaultvalue);
if (od.Containssubindex(5))
slot.eventtimer = EDSsharp.ConvertToUInt16(od.Getsubobject(5).defaultvalue);
if (od.Containssubindex(6))
slot.syncstart = EDSsharp.ConvertToByte(od.Getsubobject(6).defaultvalue);
slot.ConfigurationIndex = idx;
slot.configAccessType = od.accesstype;
slot.configloc = od.prop.CO_storageGroup;
slot.DescriptionComm = od.Description;
Console.WriteLine(String.Format("Found PDO Entry {0:X4} {1:X3}", idx, slot.COB));
//Look at mappings
ODentry mapping = eds.Getobject((ushort)(idx + 0x200));
if (mapping != null) {
slot.DescriptionMap = mapping.Description;
}else
{
Console.WriteLine(string.Format("No mapping for index 0x{0:X4} should be at 0x{1:X4}", idx, idx + 0x200));
continue;
}
uint totalsize = 0;
slot.mappingAccessType = od.accesstype;
slot.mappingloc = od.prop.CO_storageGroup;
for (ushort subindex= 1; subindex<= mapping.Getmaxsubindex();subindex++)
{
ODentry sub = mapping.Getsubobject(subindex);
if (sub == null)
continue;
//Decode the mapping
UInt32 data = 0;
if (sub.defaultvalue.Length < 10)
continue;
if (sub.defaultvalue != "")
data = Convert.ToUInt32(sub.defaultvalue, EDSsharp.Getbase(sub.defaultvalue));
if (data == 0)
continue;
byte datasize = (byte)(data & 0x000000FF);
UInt16 pdoindex = (UInt16)((data >> 16) & 0x0000FFFF);
byte pdosub = (byte)((data >> 8) & 0x000000FF);
totalsize += datasize;
Console.WriteLine(string.Format("Mapping 0x{0:X4}/{1:X2} size {2}", pdoindex, pdosub, datasize));
//validate this against what is in the actual object mapped
try
{
ODentry maptarget;
if (pdosub == 0)
{
if (eds.tryGetODEntry(pdoindex, out maptarget) == false)
{
Console.WriteLine("MAPPING FAILED");
//Critical PDO error
return;
}
}
else
maptarget = eds.ods[pdoindex].Getsubobject(pdosub);
if (maptarget.prop.CO_disabled == false && datasize == (maptarget.Sizeofdatatype()))
{
//mappingfail = false;
}
else
{
Console.WriteLine(String.Format("MAPPING FAILED {0} != {1}", datasize, maptarget.Sizeofdatatype()));
}
slot.Mapping.Add(maptarget);
}
catch (Exception) { }
}
Console.WriteLine(String.Format("Total PDO Size {0}\n", totalsize));
slots.Add(slot);
}
}
}
/// <summary>
/// Rebuild the communication and mapping paramaters from the
/// lists the PDOhelper currently has. These live in the list pdoslots
/// </summary>
public void buildmappingsfromlists(bool isCANopenNode_V4)
{
for(ushort x=0x1400;x<0x1c00;x++)
{
if (eds.ods.ContainsKey(x))
eds.ods.Remove(x);
}
foreach(PDOSlot slot in pdoslots)
{
ODentry config = new ODentry();
config.Index = slot.ConfigurationIndex;
config.datatype = DataType.PDO_COMMUNICATION_PARAMETER;
config.objecttype = ObjectType.RECORD;
config.accesstype = slot.configAccessType;
config.prop.CO_storageGroup = slot.configloc;
config.Description = slot.DescriptionComm;
ODentry sub;
if (slot.isTXPDO())
{
config.parameter_name = "TPDO communication parameter";
config.prop.CO_countLabel = "TPDO";
sub = new ODentry("Highest sub-index supported", (ushort)slot.ConfigurationIndex, 0);
sub.defaultvalue = "0x06";
sub.datatype = DataType.UNSIGNED8;
sub.accesstype = EDSsharp.AccessType.ro;
config.addsubobject(0x00, sub);
sub = new ODentry("COB-ID used by TPDO", (ushort)slot.ConfigurationIndex, 1);
sub.datatype = DataType.UNSIGNED32;
if (slot.nodeidpresent)
sub.defaultvalue = "$NODEID+"; // DSP306: "The $NODEID must appear at the beginning of the expression. Otherwise the line is interpreted as without a formula.
sub.defaultvalue += String.Format("0x{0:X}", slot.COB);
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x01, sub);
sub = new ODentry("Transmission type", (ushort)slot.ConfigurationIndex, 2);
sub.datatype = DataType.UNSIGNED8;
sub.defaultvalue = slot.transmissiontype.ToString();
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x02, sub);
sub = new ODentry("Inhibit time", (ushort)slot.ConfigurationIndex, 3);
sub.datatype = DataType.UNSIGNED16;
sub.defaultvalue = slot.inhibit.ToString();
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x03, sub);
if (!isCANopenNode_V4)
{
sub = new ODentry("compatibility entry", (ushort)slot.ConfigurationIndex, 4);
sub.datatype = DataType.UNSIGNED8;
sub.defaultvalue = "0";
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x04, sub);
}
sub = new ODentry("Event timer", (ushort)slot.ConfigurationIndex, 5);
sub.datatype = DataType.UNSIGNED16;
sub.defaultvalue = slot.eventtimer.ToString();
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x05, sub);
sub = new ODentry("SYNC start value", (ushort)slot.ConfigurationIndex, 6);
sub.datatype = DataType.UNSIGNED8;
sub.defaultvalue = slot.syncstart.ToString(); ;
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x06, sub);
}
else
{
config.parameter_name = "RPDO communication parameter";
config.prop.CO_countLabel = "RPDO";
sub = new ODentry("Highest sub-index supported", (ushort)slot.ConfigurationIndex, 0);
sub.defaultvalue = isCANopenNode_V4 ? "0x05" : "0x02";
sub.datatype = DataType.UNSIGNED8;
sub.accesstype = EDSsharp.AccessType.ro;
config.addsubobject(0x00, sub);
sub = new ODentry("COB-ID used by RPDO", (ushort)slot.ConfigurationIndex, 1);
sub.datatype = DataType.UNSIGNED32;
if (slot.nodeidpresent)
sub.defaultvalue = "$NODEID+"; // DSP306: "The $NODEID must appear at the beginning of the expression. Otherwise the line is interpreted as without a formula.
sub.defaultvalue += String.Format("0x{0:X}", slot.COB);
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x01, sub);
sub = new ODentry("Transmission type", (ushort)slot.ConfigurationIndex, 2);
sub.datatype = DataType.UNSIGNED8;
sub.defaultvalue = slot.transmissiontype.ToString();
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x02, sub);
if (isCANopenNode_V4)
{
sub = new ODentry("Event timer", (ushort)slot.ConfigurationIndex, 5);
sub.datatype = DataType.UNSIGNED16;
sub.defaultvalue = slot.eventtimer.ToString();
sub.accesstype = EDSsharp.AccessType.rw;
config.addsubobject(0x05, sub);
}
}
eds.ods.Add(slot.ConfigurationIndex,config);
ODentry mapping = new ODentry();
mapping.Index = slot.MappingIndex;
mapping.datatype = DataType.PDO_MAPPING;
mapping.objecttype = ObjectType.RECORD;
if(slot.isTXPDO())
mapping.parameter_name = "TPDO mapping parameter";
else
mapping.parameter_name = "RPDO mapping parameter";
mapping.prop.CO_storageGroup = slot.mappingloc;
mapping.accesstype = slot.mappingAccessType;
mapping.Description = slot.DescriptionMap;
sub = new ODentry("Number of mapped application objects in PDO", (ushort)slot.MappingIndex, 0);
sub.datatype = DataType.UNSIGNED8;
sub.defaultvalue = slot.Mapping.Count().ToString();
sub.accesstype = EDSsharp.AccessType.rw;
mapping.addsubobject(0x00, sub);
byte mappingcount = 1;
foreach (ODentry mapslot in slot.Mapping)
{
sub = new ODentry(String.Format("Application object {0:X}", mappingcount), (ushort)slot.MappingIndex, mappingcount);
sub.datatype = DataType.UNSIGNED32;
sub.defaultvalue = string.Format("0x{0:X4}{1:X2}{2:X2}", mapslot.Index, mapslot.Subindex, mapslot.Sizeofdatatype());
sub.accesstype = EDSsharp.AccessType.rw;
mapping.addsubobject(mappingcount, sub);
mappingcount++;
}
for (; mappingcount <= 8; mappingcount++)
{
sub = new ODentry(String.Format("Application object {0:X}", mappingcount), (ushort)slot.MappingIndex, mappingcount);
sub.datatype = DataType.UNSIGNED32;
sub.defaultvalue = "0x00000000";
sub.accesstype = EDSsharp.AccessType.rw;
mapping.addsubobject(mappingcount, sub);
}
eds.ods.Add(slot.MappingIndex,mapping);
}
}
/// <summary>
/// Add a PDO slot as set by index
/// </summary>
/// <param name="configindex"></param>
public void addPDOslot(UInt16 configindex)
{
//quick range check, it must be a config index for an RXPDO or a TXPDO
if( (configindex<0x1400) || (configindex >= 0x1a00) || ((configindex>=0x1600) && (configindex<0x1800)))
return;
foreach(PDOSlot slot in pdoslots)
{
if (slot.ConfigurationIndex == configindex)
return;
}
bool isTXPDO = configindex >= 0x1800;
PDOSlot newslot = new PDOSlot();
newslot.ConfigurationIndex = configindex;
switch (configindex)
{
case 0x1400:
newslot.COB = 0x80000200;
newslot.nodeidpresent = true;
break;
case 0x1401:
newslot.COB = 0x80000300;
newslot.nodeidpresent = true;
break;
case 0x1402:
newslot.COB = 0x80000400;
newslot.nodeidpresent = true;
break;
case 0x1403:
newslot.COB = 0x80000500;
newslot.nodeidpresent = true;
break;
case 0x1800:
newslot.COB = 0xC0000180;
newslot.nodeidpresent = true;
break;
case 0x1801:
newslot.COB = 0xC0000280;
newslot.nodeidpresent = true;
break;
case 0x1802:
newslot.COB = 0xC0000380;
newslot.nodeidpresent = true;
break;
case 0x1803:
newslot.COB = 0xC0000480;
newslot.nodeidpresent = true;
break;
default:
newslot.COB = 0xC0000000;
break;
}
newslot.configloc = "PERSIST_COMM";
newslot.mappingloc = "PERSIST_COMM";
pdoslots.Add(newslot);
}
/// <summary>
/// This finds a gap in the PDO slots
/// </summary>
public UInt16 findPDOslotgap(bool isTXPDO)
{
//firstly find the first gap and place it there
UInt16 startindex = 0x1400;
if (isTXPDO)
startindex = 0x1800;
for(UInt16 index = startindex; index<(startindex+0x200);index++)
{
bool found = false;
foreach(PDOSlot slot in pdoslots)
{
if (slot.ConfigurationIndex == index)
{
found = true;
break;
}
}
if(found==false)
{
return index;
}
}
//no gaps
return 0x0000;
}
/// <summary>
/// Remove existing PDO slot as set by index
/// </summary>
/// <param name="configindex"></param>
public void removePDOslot(UInt16 configindex)
{
foreach (PDOSlot slot in pdoslots)
{
if (slot.ConfigurationIndex == configindex)
{
pdoslots.Remove(slot);
break;
}
}
}
}
}