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00050 #include <stdio.h>
00051 #include <youbot_driver/soem/ethercattype.h>
00052 #include <youbot_driver/soem/ethercatmain.h>
00053
00054 #define EC_MAXERRORNAME 127
00055
00057 typedef const struct
00058 {
00060 uint32 errorcode;
00062 char errordescription[EC_MAXERRORNAME + 1];
00063 } ec_sdoerrorlist_t;
00064
00066 typedef const struct
00067 {
00069 uint16 ALstatuscode;
00071 char ALstatuscodedescription[EC_MAXERRORNAME + 1];
00072 } ec_ALstatuscodelist_t;
00073
00075 typedef const struct
00076 {
00078 uint16 errorcode;
00080 char errordescription[EC_MAXERRORNAME + 1];
00081 } ec_soeerrorlist_t;
00082
00083 char estring[EC_MAXERRORNAME];
00084
00086 const ec_sdoerrorlist_t ec_sdoerrorlist[] = {
00087 {0x00000000, "No error"}, {0x05030000, "Toggle bit not changed"}, {0x05040000, "SDO protocol timeout"}, {
00088 0x05040001, "Client/Server command specifier not valid or unknown"},
00089 {0x05040005, "Out of memory"}, {0x06010000, "Unsupported access to an object"}, {
00090 0x06010001, "Attempt to read to a write only object"},
00091 {0x06010002, "Attempt to write to a read only object"}, {0x06020000,
00092 "The object does not exist in the object directory"},
00093 {0x06040041, "The object can not be mapped into the PDO"}, {
00094 0x06040042, "The number and length of the objects to be mapped would exceed the PDO length"},
00095 {0x06040043, "General parameter incompatibility reason"}, {0x06040047,
00096 "General internal incompatibility in the device"},
00097 {0x06060000, "Access failed due to a hardware error"}, {
00098 0x06070010, "Data type does not match, length of service parameter does not match"},
00099 {0x06070012, "Data type does not match, length of service parameter too high"}, {
00100 0x06070013, "Data type does not match, length of service parameter too low"},
00101 {0x06090011, "Subindex does not exist"}, {0x06090030, "Value range of parameter exceeded (only for write access)"},
00102 {0x06090031, "Value of parameter written too high"}, {0x06090032, "Value of parameter written too low"}, {
00103 0x06090036, "Maximum value is less than minimum value"},
00104 {0x08000000, "General error"}, {0x08000020, "Data cannot be transferred or stored to the application"}, {
00105 0x08000021, "Data cannot be transferred or stored to the application because of local control"},
00106 {0x08000022, "Data cannot be transferred or stored to the application because of the present device state"}, {
00107 0x08000023, "Object dictionary dynamic generation fails or no object dictionary is present"},
00108 {0xffffffff, "Unknown"}};
00109
00111 const ec_ALstatuscodelist_t ec_ALstatuscodelist[] = { {0x0000, "No error"}, {0x0001, "Unspecified error"}, {
00112 0x0011, "Invalid requested state change"},
00113 {0x0012, "Unknown requested state"}, {0x0013,
00114 "Bootstrap not supported"},
00115 {0x0014, "No valid firmware"}, {0x0015,
00116 "Invalid mailbox configuration"},
00117 {0x0016, "Invalid mailbox configuration"}, {
00118 0x0017, "Invalid sync manager configuration"},
00119 {0x0018, "No valid inputs available"},
00120 {0x0019, "No valid outputs"}, {0x001A, "Synchronization error"}, {
00121 0x001B, "Sync manager watchdog"},
00122 {0x001C, "Invalid Sync Manager Types"}, {
00123 0x001D, "Invalid Output Configuration"},
00124 {0x001E, "Invalid Input Configuration"}, {
00125 0x001F, "Invalid Watchdog Configuration"},
00126 {0x0020, "Slave needs cold start"}, {0x0021, "Slave needs INIT"}, {
00127 0x0022, "Slave needs PREOP"},
00128 {0x0023, "Slave needs SAFEOP"}, {
00129 0x002D, "Invalid Output FMMU Configuration"},
00130 {0x002E, "Invalid Input FMMU Configuration"}, {
00131 0x0030, "Invalid DC SYNCH Configuration"},
00132 {0x0031, "Invalid DC Latch Configuration"}, {0x0032, "PLL Error"},
00133 {0x0033, "Invalid DC IO Error"}, {0x0034,
00134 "Invalid DC Timeout Error"},
00135 {0x0042, "MBX_EOE"}, {0x0043, "MBX_COE"}, {0x0044, "MBX_FOE"}, {
00136 0x0045, "MBX_SOE"},
00137 {0x004F, "MBX_VOE"}, {0xffff, "Unknown"}};
00138
00140 const ec_soeerrorlist_t ec_soeerrorlist[] = { {0x0000, "No error"}, {0x1001, "No IDN"}, {0x1009,
00141 "Invalid access to element 1"},
00142 {0x2001, "No Name"}, {0x2002, "Name transmission too short"}, {
00143 0x2003, "Name transmission too long"},
00144 {0x2004, "Name cannot be changed (read only)"}, {
00145 0x2005, "Name is write-protected at this time"},
00146 {0x3002, "Attribute transmission too short"}, {
00147 0x3003, "Attribute transmission too long"},
00148 {0x3004, "Attribute cannot be changed (read only)"}, {
00149 0x3005, "Attribute is write-protected at this time"},
00150 {0x4001, "No units"}, {0x4002, "Unit transmission too short"}, {
00151 0x4003, "Unit transmission too long"},
00152 {0x4004, "Unit cannot be changed (read only)"}, {
00153 0x4005, "Unit is write-protected at this time"},
00154 {0x5001, "No minimum input value"}, {
00155 0x5002, "Minimum input value transmission too short"},
00156 {0x5003, "Minimum input value transmission too long"}, {
00157 0x5004, "Minimum input value cannot be changed (read only)"},
00158 {0x5005, "Minimum input value is write-protected at this time"}, {
00159 0x6001, "No maximum input value"},
00160 {0x6002, "Maximum input value transmission too short"}, {
00161 0x6003, "Maximum input value transmission too long"},
00162 {0x6004, "Maximum input value cannot be changed (read only)"}, {
00163 0x6005, "Maximum input value is write-protected at this time"},
00164 {0x7002, "Operation data transmission too short"}, {
00165 0x7003, "Operation data transmission too long"},
00166 {0x7004, "Operation data cannot be changed (read only)"}, {
00167 0x7005, "Operation data is write-protected at this time (state)"},
00168 {0x7006, "Operation data is smaller than the minimum input value"}, {
00169 0x7007, "Operation data is smaller than the maximum input value"},
00170 {0x7008, "Invalid operation data:Configured IDN will not be supported"}, {
00171 0x7009, "Operation data write protected by a password"},
00172 {0x700A, "Operation data is write protected, it is configured cyclically"},
00173 {0x700B,
00174 "Invalid indirect addressing: (e.g., data container, list handling)"},
00175 {0x700C, "Operation data is write protected, due to other settings"}, {
00176 0x700D, "Reserved"},
00177 {0x7010, "Procedure command already active"}, {
00178 0x7011, "Procedure command not interruptible"},
00179 {0x7012, "Procedure command at this time not executable (state)"}, {
00180 0x7013,
00181 "Procedure command not executable (invalid or false parameters)"},
00182 {0x7014, "No data state"}, {0x8001, "No default value"}, {
00183 0x8002, "Default value transmission too long"},
00184 {0x8004, "Default value cannot be changed, read only"}, {
00185 0x800A, "Invalid drive number"},
00186 {0x800A, "General error"}, {0x800A, "No element addressed"}, {0xffff,
00187 "Unknown"}};
00188
00194 char* ec_sdoerror2string(uint32 sdoerrorcode)
00195 {
00196 int i = 0;
00197
00198 do
00199 {
00200 i++;
00201 } while ((ec_sdoerrorlist[i].errorcode != 0xfffffffful) && (ec_sdoerrorlist[i].errorcode != sdoerrorcode));
00202
00203 return (char*)ec_sdoerrorlist[i].errordescription;
00204 }
00205
00211 char* ec_ALstatuscode2string(uint16 ALstatuscode)
00212 {
00213 int i = 0;
00214
00215 do
00216 {
00217 i++;
00218 } while ((ec_ALstatuscodelist[i].ALstatuscode != 0xffff) && (ec_ALstatuscodelist[i].ALstatuscode != ALstatuscode));
00219
00220 return (char *)ec_ALstatuscodelist[i].ALstatuscodedescription;
00221 }
00222
00228 char* ec_soeerror2string(uint16 errorcode)
00229 {
00230 int i = 0;
00231
00232 do
00233 {
00234 i++;
00235 } while ((ec_soeerrorlist[i].errorcode != 0xffff) && (ec_soeerrorlist[i].errorcode != errorcode));
00236
00237 return (char *)ec_soeerrorlist[i].errordescription;
00238 }
00239
00244 char* ec_elist2string(void)
00245 {
00246 ec_errort Ec;
00247 char timestr[20];
00248
00249 if (ec_poperror(&Ec))
00250 {
00251 sprintf(timestr, "Time:%12.3f", Ec.Time.tv_sec + (Ec.Time.tv_usec / 1000000.0));
00252 switch (Ec.Etype)
00253 {
00254 case EC_ERR_TYPE_SDO_ERROR:
00255 sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n", timestr, Ec.Slave, Ec.Index, Ec.SubIdx,
00256 Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode));
00257 break;
00258 case EC_ERR_TYPE_EMERGENCY:
00259 sprintf(estring, "%s EMERGENCY slave:%d error:%4.4x\n", timestr, Ec.Slave, Ec.ErrorCode);
00260 break;
00261 case EC_ERR_TYPE_PACKET_ERROR:
00262 sprintf(estring, "%s PACKET slave:%d index:%4.4x.%2.2x error:%d\n", timestr, Ec.Slave, Ec.Index, Ec.SubIdx,
00263 Ec.ErrorCode);
00264 break;
00265 case EC_ERR_TYPE_SDOINFO_ERROR:
00266 sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n", timestr, Ec.Slave, Ec.Index, Ec.SubIdx,
00267 Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode));
00268 break;
00269 case EC_ERR_TYPE_SOE_ERROR:
00270 sprintf(estring, "%s SoE slave:%d IDN:%4.4x error:%4.4x %s\n", timestr, Ec.Slave, Ec.Index, Ec.AbortCode,
00271 ec_soeerror2string(Ec.ErrorCode));
00272 break;
00273 default:
00274 sprintf(estring, "%s error:%8.8x\n", timestr, Ec.AbortCode);
00275 }
00276 return (char*)estring;
00277 }
00278 else
00279 return "";
00280 }