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Save SDO config

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This commit is contained in:
Bjarne von Horn
2024-07-05 11:05:36 +02:00
parent 42b980c0d4
commit 4795be145a
2 changed files with 66 additions and 2 deletions
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39
fake_lib/fakeethercat.cpp
View File

@@ -331,7 +331,7 @@ int ecrt_slave_config_complete_sdo(
size_t size /**< Size of the \a data. */
)
{
return -1;
return ecrt_slave_config_sdo(sc, index, 0, data, size);
}
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
ec_slave_config_t *sc, /**< Slave configuration. */
@@ -437,6 +437,40 @@ int ecrt_slave_config_reg_pdo_entry(
return -1; // offset
}
int ecrt_slave_config_sdo8(
ec_slave_config_t *sc, /**< Slave configuration */
uint16_t sdo_index, /**< Index of the SDO to configure. */
uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
uint8_t value /**< Value to set. */
)
{
return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, &value, 1);
}
int ecrt_slave_config_sdo16(
ec_slave_config_t *sc, /**< Slave configuration */
uint16_t sdo_index, /**< Index of the SDO to configure. */
uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
uint16_t const value /**< Value to set. */
)
{
uint8_t buf[sizeof(value)];
memcpy(&buf, &value, sizeof(value));
return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, buf, sizeof(buf));
}
int ecrt_slave_config_sdo32(
ec_slave_config_t *sc, /**< Slave configuration */
uint16_t sdo_index, /**< Index of the SDO to configure. */
uint8_t sdo_subindex, /**< Subindex of the SDO to configure. */
uint32_t const value /**< Value to set. */
)
{
uint8_t buf[sizeof(value)];
memcpy(&buf, &value, sizeof(value));
return ecrt_slave_config_sdo(sc, sdo_index, sdo_subindex, buf, sizeof(buf));
}
int ecrt_slave_config_sdo(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< Index of the SDO to configure. */
@@ -445,7 +479,8 @@ int ecrt_slave_config_sdo(
size_t size /**< Size of the \a data. */
)
{
return -1;
sc->sdos[sdo_address{index, subindex}] = std::basic_string<uint8_t>(data, data + size);
return 0;
}
void ecrt_write_lreal(void *data, double const value)

29
fake_lib/fakeethercat.h
View File

@@ -30,6 +30,7 @@
#include <list>
#include <map>
#include <memory>
#include <string>
#include <vector>
struct Offset
@@ -89,12 +90,40 @@ public:
}
};
class sdo_address
{
uint32_t value;
public:
sdo_address(uint16_t index, /**< Slave alias. */
uint8_t subindex /**< Slave position. */)
: value(static_cast<uint32_t>(index) << 8 | subindex)
{
}
uint16_t getIndex() const { return value >> 8; }
uint8_t getSubIndex() const { return value & 0xFF; }
uint32_t getCombined() const { return value; }
bool operator<(const sdo_address &other) const noexcept
{
return value < other.value;
}
bool operator==(const sdo_address &other) const noexcept
{
return value == other.value;
}
};
struct ec_slave_config
{
ec_address address;
uint32_t vendor_id; /**< Expected vendor ID. */
uint32_t product_code; /**< Expected product code. */
std::map<unsigned int, syncManager> sync_managers;
std::map<sdo_address, std::basic_string<uint8_t>> sdos;
ec_slave_config(
ec_address address,