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Merged
leducp merged 1 commit into from
May 26, 2026
Merged

ESI parser compliance - step 2 (#387) #393

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59 changes: 47 additions & 12 deletions lib/include/kickcat/ESI/Device.h
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Expand Up @@ -8,9 +8,40 @@
#include <vector>

#include "kickcat/CoE/OD.h"
#include "kickcat/protocol.h"

namespace kickcat::ESI
{
struct SyncManager
{
kickcat::SyncManager::Type type = kickcat::SyncManager::Unused;
uint16_t min_size = 0;
uint16_t max_size = 0;
uint16_t default_size = 0;
uint16_t start_address = 0;
uint8_t control_byte = 0;
uint8_t enable = 0;
bool is_virtual = false;
bool op_only = false;
};

struct SyncUnit
{
bool separate_su = false;
bool separate_frame = false;
bool frame_repeat_support = false;
};

struct Fmmu
{
fmmu::Type type = fmmu::Unused;
// -1 when the attribute is absent. ESI Sm/Su attributes index into
// the device's <Sm>/<Su> declaration order.
int sm = -1;
int su = -1;
bool op_only = false;
};

struct DeviceSummary
{
std::string type;
Expand All @@ -30,18 +61,22 @@ namespace kickcat::ESI

struct Device
{
std::string type;
uint32_t product_code = 0;
uint32_t revision_no = 0;
uint32_t serial_no = 0;
std::string name;
std::string group_type;
uint16_t profile_no = 0;

std::string vendor_name;
uint32_t vendor_id = 0;

CoE::Dictionary dictionary;
std::string type;
uint32_t product_code = 0;
uint32_t revision_no = 0;
uint32_t serial_no = 0;
std::string name;
std::string group_type;
uint16_t profile_no = 0;

std::string vendor_name;
uint32_t vendor_id = 0;

std::vector<SyncManager> sync_managers;
std::vector<SyncUnit> sync_units;
std::vector<Fmmu> fmmus;

CoE::Dictionary dictionary;
};
}

Expand Down
8 changes: 6 additions & 2 deletions lib/include/kickcat/ESI/Parser.h
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Expand Up @@ -43,7 +43,12 @@ namespace kickcat::ESI
tinyxml2::XMLElement* selectDevice(DeviceFilter const& filter);
DeviceSummary summarize (tinyxml2::XMLElement* device);

CoE::Dictionary buildDictionary(tinyxml2::XMLElement* device, tinyxml2::XMLElement* profile);
void parseSyncManagers(tinyxml2::XMLElement* device, std::vector<SyncManager>& out);
void parseSyncUnits (tinyxml2::XMLElement* device, std::vector<SyncUnit>& out);
void parseFmmus (tinyxml2::XMLElement* device, std::vector<Fmmu>& out);

CoE::Dictionary buildDictionary(tinyxml2::XMLElement* profile,
std::vector<SyncManager> const& sms);

std::vector<uint8_t> loadHexBinary(tinyxml2::XMLElement* node);
std::vector<uint8_t> loadStringData(tinyxml2::XMLElement* node);
Expand All @@ -70,7 +75,6 @@ namespace kickcat::ESI
std::string profile_no_;

static const std::unordered_map<std::string, CoE::DataType> BASIC_TYPES;
static const std::unordered_map<std::string, uint8_t> SM_CONF;
};
}

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2 changes: 1 addition & 1 deletion lib/include/kickcat/Mailbox.h
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Expand Up @@ -121,7 +121,7 @@ namespace kickcat::mailbox::request
bool toggle; // for SDO segmented transfer

//
void generateSMConfig(SyncManager SM[2]);
void generateSMConfig(SyncManager::Register SM[2]);

// messages factory
std::shared_ptr<AbstractMessage> createSDO(uint16_t index, uint8_t subindex, bool CA, uint8_t request, void* data, uint32_t* data_size, nanoseconds timeout = 20ms);
Expand Down
109 changes: 64 additions & 45 deletions lib/include/kickcat/protocol.h
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Expand Up @@ -384,34 +384,35 @@ namespace kickcat

std::string toString(ErrorCounters const& counters);

struct SyncManager
namespace SyncManager
{
uint16_t start_address;
uint16_t length;
uint8_t control;
uint8_t status;
uint8_t activate;
uint8_t pdi_control;
} __attribute__((__packed__));
struct Register
{
uint16_t start_address;
uint16_t length;
uint8_t control;
uint8_t status;
uint8_t activate;
uint8_t pdi_control;
} __attribute__((__packed__));
}


constexpr uint8_t SM_CONTROL_MODE_MASK = 0x03;
constexpr uint8_t SM_CONTROL_MODE_BUFFERED = 0x00;
constexpr uint8_t SM_CONTROL_MODE_MAILBOX = 0x02;
constexpr uint8_t SM_CONTROL_DIRECTION_MASK = 0x0C;
constexpr uint8_t SM_CONTROL_DIRECTION_READ = 0x00; // ECAT read access, PDI write access
constexpr uint8_t SM_CONTROL_DIRECTION_WRITE = 0x04; // ECAT write access, PDI read access
constexpr uint8_t SM_CONTROL_INTERRUPT_ECAT_MASK = 0x10;
constexpr uint8_t SM_CONTROL_INTERRUPT_ECAT_DISABLED= 0x00;
constexpr uint8_t SM_CONTROL_INTERRUPT_ECAT_ENABLED = 0x10;
constexpr uint8_t SM_CONTROL_INTERRUPT_AL_MASK = 0x20;
constexpr uint8_t SM_CONTROL_INTERRUPT_AL_DISABLED = 0x00;
constexpr uint8_t SM_CONTROL_INTERRUPT_AL_ENABLED = 0x20;
constexpr uint8_t SM_CONTROL_WATCHDOG_MASK = 0x40;
constexpr uint8_t SM_CONTROL_WATCHDOG_DISABLED = 0x00;
constexpr uint8_t SM_CONTROL_WATCHDOG_ENABLED = 0x40;
constexpr uint8_t SYNC_MANAGER_CONTROL_OPERATION_MODE_MASK = 0x03; // bits [1:0]
constexpr uint8_t SYNC_MANAGER_CONTROL_DIRECTION_MASK = 0x0C; // bits [3:2]
constexpr uint8_t SM_CONTROL_OPERATION_MODE_MASK = 0x03; // bits [1:0]
constexpr uint8_t SM_CONTROL_MODE_BUFFERED = 0x00;
constexpr uint8_t SM_CONTROL_MODE_MAILBOX = 0x02;
constexpr uint8_t SM_CONTROL_DIRECTION_MASK = 0x0C; // bits [3:2]
constexpr uint8_t SM_CONTROL_DIRECTION_READ = 0x00; // ECAT read access, PDI write access
constexpr uint8_t SM_CONTROL_DIRECTION_WRITE = 0x04; // ECAT write access, PDI read access
constexpr uint8_t SM_CONTROL_INTERRUPT_ECAT_MASK = 0x10;
constexpr uint8_t SM_CONTROL_INTERRUPT_ECAT_DISABLED = 0x00;
constexpr uint8_t SM_CONTROL_INTERRUPT_ECAT_ENABLED = 0x10;
constexpr uint8_t SM_CONTROL_INTERRUPT_AL_MASK = 0x20;
constexpr uint8_t SM_CONTROL_INTERRUPT_AL_DISABLED = 0x00;
constexpr uint8_t SM_CONTROL_INTERRUPT_AL_ENABLED = 0x20;
constexpr uint8_t SM_CONTROL_WATCHDOG_MASK = 0x40;
constexpr uint8_t SM_CONTROL_WATCHDOG_DISABLED = 0x00;
constexpr uint8_t SM_CONTROL_WATCHDOG_ENABLED = 0x40;

constexpr uint8_t SM_ACTIVATE_ENABLE = (1 << 0);
constexpr uint8_t SM_ACTIVATE_REPEAT_REQ = (1 << 1);
Expand All @@ -422,29 +423,47 @@ namespace kickcat
constexpr uint8_t SM_STATUS_IRQ_READ = (1 << 1);
constexpr uint8_t SM_STATUS_MAILBOX = (1 << 3);

enum SyncManagerType
namespace SyncManager
{
Unused = 0,
MailboxOut = 1,
MailboxIn = 2,
Output = 3,
Input = 4 // slave to master
};
char const* toString(SyncManagerType const& type);
constexpr uint16_t addressSM(uint8_t index) { return static_cast<uint16_t>(reg::SYNC_MANAGER + index * sizeof(SyncManager)); };
enum Type : uint8_t
{
Unused = 0,
MailboxOut = 1,
MailboxIn = 2,
Output = 3,
Input = 4 // slave to master
};
char const* toString(Type const& type);
void fromString(std::string_view text, Type& out);
}

struct FMMU
namespace fmmu
{
uint32_t logical_address;
uint16_t length;
uint8_t logical_start_bit;
uint8_t logical_stop_bit;
uint16_t physical_address;
uint8_t physical_start_bit;
uint8_t type;
uint8_t activate;
uint8_t reserved[3];
} __attribute__((__packed__));
enum Type : uint8_t
{
Unused = 0,
Outputs = 1,
Inputs = 2,
MBoxState = 3,
};
char const* toString(Type const& type);
void fromString(std::string_view text, Type& out);

struct Register
{
uint32_t logical_address;
uint16_t length;
uint8_t logical_start_bit;
uint8_t logical_stop_bit;
uint16_t physical_address;
uint8_t physical_start_bit;
uint8_t type;
uint8_t activate;
uint8_t reserved[3];
} __attribute__((__packed__));
}

constexpr uint16_t addressSM(uint8_t index) { return static_cast<uint16_t>(reg::SYNC_MANAGER + index * sizeof(SyncManager::Register)); };

namespace eeprom // addresses are in words!
{
Expand Down
30 changes: 15 additions & 15 deletions lib/master/src/Bus.cc
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Expand Up @@ -363,7 +363,7 @@ namespace kickcat
{
if (slave.sii.info.mailbox_protocol)
{
SyncManager SM[2];
SyncManager::Register SM[2];
slave.mailbox.generateSMConfig(SM);
link_->addDatagram(Command::FPWR, createAddress(slave.address, reg::SYNC_MANAGER), SM, process, error);
}
Expand Down Expand Up @@ -412,7 +412,7 @@ namespace kickcat
}

Slave::PIMapping* mapping = &slave.input;
if (sm[i] == SyncManagerType::Output)
if (sm[i] == SyncManager::Output)
{
mapping = &slave.output;
}
Expand Down Expand Up @@ -441,7 +441,7 @@ namespace kickcat
else
{
// unsupported mailbox: use SII to get the mapping size
auto siiMapping = [&](Slave::PIMapping* mapping, std::vector<eeprom::PDOMapping> const& PDOs, SyncManagerType type)
auto siiMapping = [&](Slave::PIMapping* mapping, std::vector<eeprom::PDOMapping> const& PDOs, SyncManager::Type type)
{
mapping->sync_manager = -1;
mapping->size = 0;
Expand All @@ -467,8 +467,8 @@ namespace kickcat
}
};

siiMapping(&slave.output, slave.sii.RxPDO, SyncManagerType::Output);
siiMapping(&slave.input, slave.sii.TxPDO, SyncManagerType::Input);
siiMapping(&slave.output, slave.sii.RxPDO, SyncManager::Output);
siiMapping(&slave.input, slave.sii.TxPDO, SyncManager::Input);
}
}
}
Expand Down Expand Up @@ -804,7 +804,7 @@ namespace kickcat

void Bus::configureFMMUs()
{
auto prepareDatagrams = [this](Slave& slave, Slave::PIMapping& mapping, SyncManagerType type)
auto prepareDatagrams = [this](Slave& slave, Slave::PIMapping& mapping, SyncManager::Type type)
{

if (mapping.bsize == 0)
Expand All @@ -830,15 +830,15 @@ namespace kickcat
// Get SyncManager configuration from SII
auto& sii_sm = slave.sii.syncManagers[mapping.sync_manager];

SyncManager sm;
FMMU fmmu;
std::memset(&sm, 0, sizeof(SyncManager));
std::memset(&fmmu, 0, sizeof(FMMU));
SyncManager::Register sm;
fmmu::Register fmmu;
std::memset(&sm, 0, sizeof(SyncManager::Register));
std::memset(&fmmu, 0, sizeof(fmmu::Register));

uint16_t targeted_fmmu = reg::FMMU; // FMMU0 - outputs
sm.control = 0x64; // 3 buffers - write acces - PDI IRQ ON - Watchdog trigger
fmmu.type = 2; // write access
if (type == SyncManagerType::Input)
if (type == SyncManager::Input)
{
sm.control = 0x20; // 3 buffers - read acces - PDI IRQ ON
fmmu.type = 1; // read access
Expand Down Expand Up @@ -868,8 +868,8 @@ namespace kickcat

for (auto& slave : slaves_)
{
prepareDatagrams(slave, slave.input, SyncManagerType::Input);
prepareDatagrams(slave, slave.output, SyncManagerType::Output);
prepareDatagrams(slave, slave.input, SyncManager::Input);
prepareDatagrams(slave, slave.output, SyncManager::Output);
}

link_->processDatagrams();
Expand Down Expand Up @@ -898,8 +898,8 @@ namespace kickcat
{
for (auto const& entry : entries)
{
FMMU fmmu;
std::memset(&fmmu, 0, sizeof(FMMU));
fmmu::Register fmmu;
std::memset(&fmmu, 0, sizeof(fmmu::Register));
fmmu.logical_address = frame.address + entry.byte_offset;
fmmu.length = 1;
fmmu.logical_start_bit = entry.bit_position;
Expand Down
2 changes: 1 addition & 1 deletion lib/master/src/Prints.cc
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Expand Up @@ -69,7 +69,7 @@ namespace kickcat
os << "SM[" << std::dec << i << "] config\n";
os << " physical address: " << "0x" << std::hex << sm.start_address << "\n";
os << " length: " << std::dec << sm.length << "\n";
os << " type: " << std::dec << toString(static_cast<SyncManagerType>(sm.type)) << "\n";
os << " type: " << std::dec << toString(static_cast<SyncManager::Type>(sm.type)) << "\n";
os << " control: " << std::hex << (int)sm.control_register << "\n";
}

Expand Down
12 changes: 6 additions & 6 deletions lib/slave/include/kickcat/AbstractESC.h
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Expand Up @@ -16,20 +16,20 @@ namespace kickcat
uint16_t start_address;
uint16_t length;
uint8_t control;
SyncManagerType type;
SyncManager::Type type;
};

constexpr SyncManagerConfig SYNC_MANAGER_PI_IN(uint8_t index, uint16_t address, uint16_t length)
{ return {index, address, length, 0x20, SyncManagerType::Input}; }
{ return {index, address, length, 0x20, SyncManager::Input}; }

constexpr SyncManagerConfig SYNC_MANAGER_PI_OUT(uint8_t index, uint16_t address, uint16_t length)
{ return {index, address, length, 0x64, SyncManagerType::Output}; }
{ return {index, address, length, 0x64, SyncManager::Output}; }

constexpr SyncManagerConfig SYNC_MANAGER_MBX_IN(uint8_t index, uint16_t address, uint16_t length)
{ return {index, address, length, 0x02, SyncManagerType::MailboxIn}; }
{ return {index, address, length, 0x02, SyncManager::MailboxIn}; }

constexpr SyncManagerConfig SYNC_MANAGER_MBX_OUT(uint8_t index, uint16_t address, uint16_t length)
{ return {index, address, length, 0x06, SyncManagerType::MailboxOut}; }
{ return {index, address, length, 0x06, SyncManager::MailboxOut}; }


namespace mailbox::response
Expand Down Expand Up @@ -59,7 +59,7 @@ namespace kickcat
/// \return Number of bytes written or a negative errno code otherwise
virtual int32_t write(uint16_t address, void const* data, uint16_t size) = 0;

std::tuple<uint8_t, SyncManager> findSm(uint16_t controlMode);
std::tuple<uint8_t, SyncManager::Register> findSm(uint16_t controlMode);
void activateSm(SyncManagerConfig const& sm);
void deactivateSm(SyncManagerConfig const& sm);

Expand Down
6 changes: 3 additions & 3 deletions lib/slave/include/kickcat/ESC/EmulatedESC.h
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Expand Up @@ -133,10 +133,10 @@ namespace kickcat
uint32_t phy_port_status;
uint8_t padding23[228];

FMMU fmmu[16];
fmmu::Register fmmu[16];
uint8_t padding24[0x100];

SyncManager sync_manager[16];
SyncManager::Register sync_manager[16];
uint8_t padding25[128];

// DC
Expand Down Expand Up @@ -165,7 +165,7 @@ namespace kickcat
uint8_t access;
uint16_t address;
uint16_t size;
SyncManager* registers;
SyncManager::Register* registers;
};
std::vector<SM> syncs_;

Expand Down
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