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Included list of common SoE error messages.

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This commit is contained in:
Florian Pose
2010-03-19 12:01:32 +01:00
parent 426ab7eef2
commit 6f07aec656
10 changed files with 155 additions and 11 deletions
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1
TODO
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@@ -41,7 +41,6 @@ Version 1.5.0:
- Implement 0xXXXX:YY format for specifying SDOs.
- Implement reading from stream for soe_write.
* recompile tool/CommandVersion.cpp if revision changes.
* Include SoE error codes.
* Log SoE IDNs with real name ([SP]-x-yyyy).
* Output SoE IDN configurations in 'ethercat config'.

1
master/Kbuild.in
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@@ -62,6 +62,7 @@ ec_master-objs := \
sdo_request.o \
slave.o \
slave_config.o \
soe_errors.o \
soe_request.o \
sync.o \
sync_config.o \

1
master/Makefile.am
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@@ -63,6 +63,7 @@ noinst_HEADERS = \
sdo_request.c sdo_request.h \
slave.c slave.h \
slave_config.c slave_config.h \
soe_errors.c \
soe_request.c soe_request.h \
sync.c sync.h \
sync_config.c sync_config.h \

31
master/fsm_soe.c
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@@ -74,6 +74,29 @@ void ec_fsm_soe_error(ec_fsm_soe_t *);
/*****************************************************************************/
extern const ec_code_msg_t soe_error_codes[];
/*****************************************************************************/
/** Outputs an SoE error code.
*/
void ec_print_soe_error(uint16_t error_code)
{
const ec_code_msg_t *error_msg;
for (error_msg = soe_error_codes; error_msg->code; error_msg++) {
if (error_msg->code == error_code) {
EC_ERR("SoE error 0x%04X: \"%s\".\n",
error_msg->code, error_msg->message);
return;
}
}
EC_ERR("Unknown SoE error 0x%04X.\n", error_code);
}
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_soe_init(
@@ -353,8 +376,8 @@ void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)
if (error_flag) {
req->error_code = EC_READ_U16(data + rec_size - 2);
EC_ERR("Received error response: 0x%04x.\n",
req->error_code);
EC_ERR("Received error response:\n");
ec_print_soe_error(req->error_code);
fsm->state = ec_fsm_soe_error;
return;
} else {
@@ -658,8 +681,8 @@ void ec_fsm_soe_write_response(ec_fsm_soe_t *fsm /**< finite state machine */)
" but received size is %zu.\n", rec_size);
} else {
req->error_code = EC_READ_U16(data + EC_SOE_WRITE_RESPONSE_SIZE);
EC_ERR("Received error response: 0x%04x.\n",
req->error_code);
EC_ERR("Received error response:\n");
ec_print_soe_error(req->error_code);
}
ec_print_data(data, rec_size);
fsm->state = ec_fsm_soe_error;

96
master/soe_errors.c Normal file
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@@ -0,0 +1,96 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT SoE errors.
*/
/*****************************************************************************/
#include "globals.h"
/*****************************************************************************/
/** SoE error codes.
*/
const ec_code_msg_t soe_error_codes[] = {
{0x1001, "No IDN"},
{0x1009, "Invalid access to element 1"},
{0x2001, "No name"},
{0x2002, "Name transmission too short"},
{0x2003, "Name transmission too long"},
{0x2004, "Name cannot be changed, read only"},
{0x2005, "Name is write protected at this time"},
{0x3002, "Attribute transmission too short"},
{0x3003, "Attribute transmission too long"},
{0x3004, "Attribute cannot be changed, read only"},
{0x3005, "Attribute is write protected at this time"},
{0x4001, "No unit"},
{0x4002, "Unit transmission too short"},
{0x4003, "Unit transmission too long"},
{0x4004, "Unit cannot be changed, read only"},
{0x4005, "Unit is write proteced at this time"},
{0x5001, "No minimum input value"},
{0x5002, "Minimum input value transmission too short"},
{0x5003, "Minimum input value transmission too long"},
{0x5004, "Minimum input value cannot be changed, read only"},
{0x5005, "Minimum input value is write protected at this time"},
{0x6001, "No maximum input value"},
{0x6002, "Maximum input value transmission too short"},
{0x6003, "Maximum input value transmission too long"},
{0x6004, "Maximum input value cannot be changed, read only"},
{0x6005, "Maximum input value is write protected at this time"},
{0x7002, "Operation data value transmission too short"},
{0x7003, "Operation data value transmission too long"},
{0x7004, "Operation data value cannot be changed, read only"},
{0x7005, "Operation data value is write protected at this time"},
{0x7006, "Operation data value is smaller than the minimum input value"},
{0x7007, "Operation data value is greater than the minimum input value"},
{0x7008, "Invalid operation data"},
{0x7009, "Operation data is write protected by a password"},
{0x700A, "Operation data is write protected"},
{0x700B, "Invalid indirect addressing"},
{0x700C, "Operation data is write protected due to other settings"},
{0x700D, "Reserved"},
{0x7010, "Procedure command already active"},
{0x7011, "Procedure command not interruptible"},
{0x7012, "Procedure command is at this time not executable"},
{0x7013, "Procedure command not executable"},
{0x7014, "No data state"},
{0x8001, "No default value"},
{0x8002, "Default value transmission too long"},
{0x8004, "Default value cannot be changed, read only"},
{0x800A, "Invalid drive number"},
{0x800B, "General error"},
{0x800C, "No element addressed"},
{}
};
/*****************************************************************************/

4
tool/CommandSoeRead.cpp
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@@ -28,7 +28,6 @@
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandSoeRead.h"
@@ -127,8 +126,7 @@ void CommandSoeRead::execute(const StringVector &args)
m.readSoe(&ioctl);
} catch (MasterDeviceSoeException &e) {
delete [] ioctl.data;
err << "SoE read command aborted with code 0x"
<< setfill('0') << hex << setw(4) << e.errorCode;
err << "SoE read command failed with code " << errorMsg(e.errorCode);
throwCommandException(err);
} catch (MasterDeviceException &e) {
delete [] ioctl.data;

4
tool/CommandSoeWrite.cpp
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@@ -28,7 +28,6 @@
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandSoeWrite.h"
@@ -148,8 +147,7 @@ void CommandSoeWrite::execute(const StringVector &args)
m.writeSoe(&ioctl);
} catch (MasterDeviceSoeException &e) {
delete [] ioctl.data;
err << "SoE write command aborted with code 0x"
<< setfill('0') << hex << setw(4) << e.errorCode << ".";
err << "SoE write command failed with code " << errorMsg(e.errorCode);
throwCommandException(err);
} catch (MasterDeviceException &e) {
delete [] ioctl.data;

1
tool/Makefile.am
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@@ -36,6 +36,7 @@ EXTRA_DIST =
bin_PROGRAMS = ethercat
ethercat_SOURCES = \
../master/soe_errors.c \
Command.cpp \
CommandAlias.cpp \
CommandCStruct.cpp \

24
tool/SoeCommand.cpp
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@@ -32,6 +32,8 @@ using namespace std;
#include "SoeCommand.h"
extern const ec_code_msg_t soe_error_codes[];
/*****************************************************************************/
SoeCommand::SoeCommand(const string &name, const string &briefDesc):
@@ -105,4 +107,26 @@ uint16_t SoeCommand::parseIdn(const string &str)
return idn;
}
/*****************************************************************************/
/** Outputs an SoE error code.
*/
std::string SoeCommand::errorMsg(uint16_t code)
{
const ec_code_msg_t *error_msg;
stringstream str;
str << "0x" << hex << setfill('0') << setw(4) << code << ": ";
for (error_msg = soe_error_codes; error_msg->code; error_msg++) {
if (error_msg->code == code) {
str << error_msg->message;
return str.str();
}
}
str << "(Unknown)";
return str.str();
}
/****************************************************************************/

3
tool/SoeCommand.h
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@@ -25,6 +25,8 @@
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
* vim: expandtab
*
****************************************************************************/
#ifndef __SOECOMMAND_H__
@@ -44,6 +46,7 @@ class SoeCommand:
protected:
static uint16_t parseIdn(const string &);
static std::string errorMsg(uint16_t);
};
/****************************************************************************/