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Background
As mandatory element, each EtherCAT slave has a slave information interface (SII) which is accessible by the master.
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Please find more informations about the SII in the EtherCAT Slave Protocol API:
https://kbhilscher.hilscheratlassian.comnet/wiki/display/DL/EtherCAT+Slave
Create an SII image
With the help of the Conformance Test Tool (CTT) or TwinCAT, an SII image can be created from an ESI file.
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- Open the Conformance Test Tool.
- Scan for any device and open the SII tab.
- Select the ESI file from the tab on the right side "ESI Files Repository" and add it to the SII tab via drag and drop.
- This can be saved in a *.BIN file now.
- Open the *.BIN file in an Hexeditior.
- Delete every entry before address 0x080 (first 128 bytes). This area will we written by the stack and is therefore not needed.
- change the *.BIN file to a *.c formatted file.
Write the SII image
The follow process needs to be performed, between the Channel Init state and "Bus on".
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After getting the configuration "RCX_CHANNEL_INIT_CNF", call the function "Sii_SetupCategoryData()".
Code snippet LOM
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const TLR_UINT8 g_abSiiCategoryData []=
{
0x0A, 0x00, 0x94, 0x00, …
/*Please copy the data from the SII which has been created out of the ESI file here.
Remember not to use the first 128 Byte!*/
};
const unsigned long g_ulSiiCategoryDataSize = sizeof(g_abSiiCategoryData);
/*******************************************************************************
* @brief This function creates a valid SII image for the slave.
* It uses packets to copy the binary image of the category data into
* the SII.
*
* @param ptRsc pointer to resources.
* @param pbCategoryData pointer to image of category data according
* to EtherCAT specification.
* @param ulCategoryDataBytelen byte length of category data array
*
* @return TLR_RESULT returns TLR_S_OK if no error,
* otherwise it will return an error code.
*/
TLR_RESULT Sii_SetupCategoryData(
ECSPX_RSC_T* ptRsc,
const TLR_UINT8* pbCategoryData,
TLR_UINT32 ulCategoryDataBytelen)
{
TLR_RESULT eRslt = TLR_S_OK;
ECAT_ESM_SII_WRITE_REQ_T* ptSiiWriteReq = NULL;
void* pvPck = NULL;
TLR_UINT32 ulImagePos = 0;
TLR_UINT32 ulFragmentLen = 0;
/* we start at position 0 of the image */
ulImagePos = 0x00;
while (ulImagePos < ulCategoryDataBytelen)
{
/* by default we write 0x10 byte fragments */
ulFragmentLen = 0x10;
/* check if our end position is larger than the image of the category data */
if (ulImagePos + ulFragmentLen > ulCategoryDataBytelen)
{
ulFragmentLen = ulCategoryDataBytelen - ulImagePos;
}
/* retrieve a pointer to a resource (packet) of pool */
eRslt = TLR_POOL_PACKET_GET(ptRsc->tLoc.hPool, &pvPck);
if (eRslt != TLR_S_OK)
{
/* leave loop */
break; /* TODO: improve */
}
/* write the fragment */
ptSiiWriteReq = (ECAT_ESM_SII_WRITE_REQ_T*)pvPck;
memset(ptSiiWriteReq, 0, sizeof(ECAT_ESM_SII_WRITE_REQ_T));
/* fill packet header */
ptSiiWriteReq->tHead.ulDest = (UINT32)ptRsc->tRem.tEcsEsmTaskQueLink.hQue;
ptSiiWriteReq->tHead.ulSrc = (UINT32)ptRsc->tLoc.hQue;
ptSiiWriteReq->tHead.ulDestId = 0x00;
ptSiiWriteReq->tHead.ulSrcId = 0x00;
ptSiiWriteReq->tHead.ulLen = 4 + ulFragmentLen;
ptSiiWriteReq->tHead.ulId = 0x00;
ptSiiWriteReq->tHead.ulSta = TLR_S_OK;
ptSiiWriteReq->tHead.ulCmd = ECAT_ESM_SII_WRITE_REQ;
ptSiiWriteReq->tHead.ulExt = 0x00;
ptSiiWriteReq->tHead.ulRout = 0x00;
/* fill data part of packet */
ptSiiWriteReq->tData.ulOffset = ulImagePos + 0x80; /* category data starts at 0x80 of SII */
memcpy((char*)(&ptSiiWriteReq->tData.abData), pbCategoryData + ulImagePos, ulFragmentLen);
/* fire the request */
eRslt = TLR_QUE_SENDPACKET_FIFO_INTERN(ptRsc->tRem.tEcsEsmTaskQueLink.hQue, ptSiiWriteReq, TLR_INFINITE);
/* TODO: TLR_QUE_SENDPACKET_FIFO */
/* TODO: why not TLR_FINITE ? */
if ( eRslt != TLR_S_OK )
{
eRslt = TLR_POOL_PACKET_RELEASE( ptRsc->tLoc.hPool, ptSiiWriteReq );
/* leave loop */
break;
}
/* we wait directly for expected cnf packet */
eRslt = WaitForResponse( ptRsc, (ptSiiWriteReq->tHead.ulCmd | 1) ); /* TODO: improve !! */
if ( eRslt != TLR_S_OK )
{
/* leave loop */
break; /* TODO: improve ? */
}
/* set next start position */
ulImagePos += ulFragmentLen;
}
/* check if error occured */
if ( eRslt != TLR_S_OK )
{
TODO: add error handling */
}
return eRslt;
} |
Change the LOM Codesnippet to fit the CIFX API
The paket send function needs to be changed as shown below for use in CIFX API, sind the above code-snippet has been created for LOM Firmware only.
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