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esi.c
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esi.c
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/* ESI - EtherCAT Slave Information
*/
#include "esi.h"
#include "esifile.h"
#include "sii.h"
#include "crc8.h"
#include <stdio.h>
#include <string.h>
#include <libxml/parser.h>
#include <libxml/tree.h>
#define Char2xmlChar(s) ((xmlChar *)s)
#define MAX_BOOTSTRAP_STRING 18
struct _esi_data {
SiiInfo *sii;
char *siifile; /* also opt for sii->outfile */
xmlDocPtr doc; /* do I need both? */
xmlNode *xmlroot;
char *xmlfile;
};
static inline void scan_hex_dec(const char *str, uint32_t *value)
{
int ret = sscanf(str, "#x%x", value);
if (ret != 1) {
sscanf(str, "%u", value);
}
}
static inline int scan_bool_value(const char *str)
{
int ret = 0;
if (strncmp(str, "True", 4) == 0 ||
strncmp(str, "true", 4) == 0 ||
strncmp(str, "1", 1) == 0) {
ret = 1;
}
return ret;
}
static char *type2str(int type)
{
switch (type) {
case XML_ELEMENT_NODE:
return "XML_ELEMENT_NODE";
case XML_ATTRIBUTE_NODE:
return "XML_ATTRIBUTE_NODE";
case XML_TEXT_NODE:
return "XML_TEXT_NODE";
case XML_CDATA_SECTION_NODE:
return "XML_CDATA_SECTION_NODE";
case XML_ENTITY_REF_NODE:
return "XML_ENTITY_REF_NODE";
case XML_ENTITY_NODE:
return "XML_ENTITY_NODE";
case XML_PI_NODE:
return "XML_PI_NODE";
case XML_COMMENT_NODE:
return "XML_COMMENT_NODE";
case XML_DOCUMENT_NODE:
return "XML_DOCUMENT_NODE";
case XML_DOCUMENT_TYPE_NODE:
return "XML_DOCUMENT_TYPE_NODE";
case XML_DOCUMENT_FRAG_NODE:
return "XML_DOCUMENT_FRAG_NODE";
case XML_NOTATION_NODE:
return "XML_NOTATION_NODE";
case XML_HTML_DOCUMENT_NODE:
return "XML_HTML_DOCUMENT_NODE";
case XML_DTD_NODE:
return "XML_DTD_NODE";
case XML_ELEMENT_DECL:
return "XML_ELEMENT_DECL";
case XML_ATTRIBUTE_DECL:
return "XML_ATTRIBUTE_DECL";
case XML_ENTITY_DECL:
return "XML_ENTITY_DECL";
case XML_NAMESPACE_DECL:
return "XML_NAMESPACE_DECL";
case XML_XINCLUDE_START:
return "XML_XINCLUDE_START";
case XML_XINCLUDE_END:
return "XML_XINCLUDE_END";
case XML_DOCB_DOCUMENT_NODE:
return "XML_DOCB_DOCUMENT_NODE";
}
return "empty";
}
#if DEBUG == 1
static void print_node(xmlNode *node)
{
if ((node->type == XML_TEXT_NODE) && (0x0a == *(node->content)))
return; // skip line feed node
printf("%d: type: %s name = %s, content = '%s'\n",
node->line, type2str(node->type), node->name, node->content);
}
#endif
static void print_all_nodes(xmlNode *root)
{
//xmlNode *node = root;
for (xmlNode *current = root; current; current = current->next) {
if (strncmp((const char *)current->name, "Profile", 7) == 0) /* skip profile sektion */
continue;
#if 0
printf("%d: note type: %s name: %s\n", current->line, type2str(current->type), current->name);
#else
if (current->type == XML_ELEMENT_NODE)
printf("%d: type: %s name = %s, content = '%s'\n",
current->line, type2str(current->type), current->name, current->content);
if (current->type == XML_TEXT_NODE)
printf("%d: type: %s name: %s content: %s\n",
current->line, type2str(current->type), current->name, current->content);
if (current->type == XML_COMMENT_NODE)
continue;
#endif
print_all_nodes(current->children);
}
}
#if DEBUG == 1
static void parse_example(xmlNode *root)
{
for (xmlNode *current = root; current; current = current->next) {
/*
printf("%d: note type: %s name: %s content: '%s'\n",
current->line, type2str(current->type), current->name, current->content);
*/
if (current->type == XML_ELEMENT_NODE && strncmp((const char *)current->name, "Device", 6) == 0) {
printf("Device found, now printing\n");
print_all_nodes(current);
printf("Finished\n");
return;
}
parse_example(current->children);
}
}
#endif
static int parse_boolean(xmlChar *boolean)
{
if (xmlStrcmp(boolean, Char2xmlChar("1")) == 0 ||
xmlStrcmp(boolean, Char2xmlChar("true")) == 0)
return 1;
return 0;
}
static uint16_t preamble_crc8(struct _sii_preamble *pa)
{
if (pa == NULL)
return 0;
uint8_t crc = 0xff;
crc8byte(&crc, pa->pdi_ctrl&0xff);
crc8byte(&crc, (pa->pdi_ctrl>>8)&0xff);
crc8byte(&crc, pa->pdi_conf&0xff);
crc8byte(&crc, (pa->pdi_conf>>8)&0xff);
crc8byte(&crc, pa->sync_impulse&0xff);
crc8byte(&crc, (pa->sync_impulse>>8)&0xff);
crc8byte(&crc, pa->pdi_conf2&0xff);
crc8byte(&crc, (pa->pdi_conf2>>8)&0xff);
crc8byte(&crc, pa->alias&0xff);
crc8byte(&crc, (pa->alias>>8)&0xff);
crc8byte(&crc, pa->reserved[0]&0xff);
crc8byte(&crc, pa->reserved[1]&0xff);
crc8byte(&crc, pa->reserved[2]&0xff);
crc8byte(&crc, pa->reserved[3]&0xff);
pa->checksum = crc;
pa->checksum_ok = 1;
return pa->checksum;
}
/* Searches the first occurence of node named 'name' */
static xmlNode *search_node(xmlNode *root, const char *name)
{
xmlNode *tmp = NULL;
for (xmlNode *curr = root; curr; curr = curr->next) {
if (curr->type == XML_ELEMENT_NODE &&
strncmp((const char *)curr->name, name, strlen((const char *)curr->name)) == 0)
return curr;
tmp = search_node(curr->children, name);
if (tmp != NULL)
return tmp;
}
return NULL;
}
static xmlNode *search_node_bfs(xmlNode *root, const char *name)
{
xmlNode *tmp = NULL;
for (xmlNode *curr = root; curr != NULL; curr = curr->next) {
if (curr->type == XML_ELEMENT_NODE &&
strncmp((const char *)curr->name, name, strlen((const char *)curr->name)) == 0) {
return curr;
}
}
for (xmlNode *curr = root; curr != NULL; curr = curr->next) {
tmp = search_node_bfs(curr->children, name);
if (tmp != NULL) {
return tmp;
}
}
return NULL;
}
static xmlNode *search_device(xmlNode *root, int device_number)
{
xmlNode *d = search_node(search_node(root, "Devices"), "Device");
while (device_number != 0 && d->next != NULL) {
d = d->next;
if (d->type == XML_ELEMENT_NODE) {
device_number--;
}
}
return (device_number > 0) ? NULL : d;
}
/* TODO: Add function to search for all nodes named by 'name' (e.g. multiple <Sm>-Tags */
/* functions to parse xml */
static struct _sii_preamble *parse_preamble(xmlNode *node)
{
struct _sii_preamble *pa = calloc(1, sizeof(struct _sii_preamble));
char string[1025];
strncpy(string, (char *)node->children->content, sizeof(string) - 1);
unsigned int lowbyte=0, highbyte=0;
char *b = string;
if (sscanf(b, "%2x%2x", &highbyte, &lowbyte) >= 2) {
pa->pdi_ctrl = BYTES_TO_WORD(highbyte, lowbyte);
b+=4;
}
if (sscanf(b, "%2x%2x", &highbyte, &lowbyte) >= 2) {
pa->pdi_conf = BYTES_TO_WORD(highbyte, lowbyte);
b+=4;
}
if (sscanf(b, "%2x%2x", &highbyte, &lowbyte) >= 2) {
pa->sync_impulse = BYTES_TO_WORD(highbyte, lowbyte);
b+=4;
}
if (sscanf(b, "%2x%2x", &highbyte, &lowbyte) >= 2) {
pa->pdi_conf2 = BYTES_TO_WORD(highbyte, lowbyte);
b+=4;
}
if (sscanf(b, "%2x%2x", &highbyte, &lowbyte) >= 2) {
pa->alias = BYTES_TO_WORD(highbyte, lowbyte);
//b+=4;
}
for (int i=0; i<4; i++)
pa->reserved[i] = 0x00;
pa->checksum = 0xff; /* set initial checksum */
pa->checksum = preamble_crc8(pa);
return pa;
}
static struct _sii_stdconfig *parse_config(xmlNode *root, xmlNode *device)
{
xmlNode *n, *tmp;
//xmlNode *n = search_node(root, "Vendor");
n = search_node(root, "Vendor");
if (n==NULL) {
return NULL;
}
struct _sii_stdconfig *sc = calloc(1, sizeof(struct _sii_stdconfig));
tmp = search_node(n, "Id");
//char *vendoridstr = tmp->children->content;
/* get id */
// FIXME add some error and validty checking, esp. if node is set correctly and has the type
scan_hex_dec((const char *)tmp->children->content, &(sc->vendor_id));
n = device; //search_node(search_node(root, "Devices"), "Device");
tmp = search_node(n, "Type");
xmlAttr *prop = tmp->properties;
while (prop != NULL) {
if (xmlStrncmp(prop->name, Char2xmlChar("ProductCode"), xmlStrlen(prop->name)) == 0) {
scan_hex_dec((const char *)prop->children->content, &(sc->product_id));
}
if (xmlStrncmp(prop->name, Char2xmlChar("RevisionNo"), xmlStrlen(prop->name)) == 0) {
scan_hex_dec((const char *)prop->children->content, &(sc->revision_id));
}
prop = prop->next;
}
sc->serial = 0; /* FIXME the serial number is not in the esi? */
sc->bs_rec_mbox_offset = 0;
sc->bs_rec_mbox_size = 0;
sc->bs_snd_mbox_offset = 0;
sc->bs_snd_mbox_size = 0;
sc->std_rec_mbox_offset = 0;
sc->std_rec_mbox_size = 0;
sc->std_snd_mbox_offset = 0;
sc->std_snd_mbox_size = 0;
/* filter the std mailbox configuration; from <Sm> description */
tmp = n->children;
while (tmp != NULL) {
if (xmlStrncmp(tmp->name, Char2xmlChar("Sm"), xmlStrlen(tmp->name)) == 0) {
xmlNode *smchild = tmp->children;
while (smchild != NULL) {
uint32_t atmp = 0;
if (xmlStrncmp(smchild->content, Char2xmlChar("MBoxOut"), xmlStrlen(smchild->content))== 0) {
xmlAttr *p = tmp->properties;
while (p!=NULL) {
if (xmlStrncmp(p->name, Char2xmlChar("DefaultSize"), xmlStrlen(p->name)) == 0) {
scan_hex_dec((const char *)p->children->content, &atmp);
sc->std_rec_mbox_size = (uint16_t)atmp;
}
if (xmlStrncmp(p->name, Char2xmlChar("StartAddress"), xmlStrlen(p->name)) == 0) {
scan_hex_dec((const char *)p->children->content, &atmp);
sc->std_rec_mbox_offset = atmp;
}
p = p->next;
}
}
if (xmlStrncmp(smchild->content, Char2xmlChar("MBoxIn"), xmlStrlen(smchild->content))== 0) {
xmlAttr *p = tmp->properties;
while (p!=NULL) {
if (xmlStrncmp(p->name, Char2xmlChar("DefaultSize"), xmlStrlen(p->name)) == 0) {
scan_hex_dec((const char *)p->children->content, &atmp);
sc->std_snd_mbox_size = (uint16_t)atmp;
}
if (xmlStrncmp(p->name, Char2xmlChar("StartAddress"), xmlStrlen(p->name)) == 0) {
scan_hex_dec((const char *)p->children->content, &atmp);
sc->std_snd_mbox_offset = atmp;
}
p = p->next;
}
}
smchild = smchild->next;
}
}
tmp = tmp->next;
}
/* get the supported mailboxes - these also occure again in the general section */
tmp = search_node_bfs(n, "Mailbox");
xmlNode *mbox;
mbox = search_node(tmp, "CoE");
if (mbox != NULL)
sc->mailbox_protocol.bit.coe = 1;
mbox = search_node(tmp, "EoE");
if (mbox != NULL)
sc->mailbox_protocol.bit.eoe = 1;
mbox = search_node(tmp, "FoE");
if (mbox != NULL)
sc->mailbox_protocol.bit.foe = 1;
mbox = search_node(tmp, "VoE");
if (mbox != NULL)
sc->mailbox_protocol.bit.voe = 1;
/* fetch eeprom size */
tmp = search_node(n, "ByteSize");
/* convert byte -> kbyte */
sc->eeprom_size = BYTES_TO_EE(atoi((char *)tmp->children->content));
sc->version = 1; /* also not in Esi */
tmp = search_node_bfs(n, "Eeprom");
if (tmp == NULL) {
fprintf(stderr, "Warning <Eeprom> tag not found");
} else {
xmlNode *bootstrap = search_node(tmp, "BootStrap");
if (bootstrap != NULL) {
char bsraw[MAX_BOOTSTRAP_STRING] = { 0 };
memmove(bsraw, (char *)bootstrap->children->content, MAX_BOOTSTRAP_STRING);
unsigned int braw[MAX_BOOTSTRAP_STRING] = { 0 };
sscanf(bsraw, "%2x%2x%2x%2x%2x%2x%2x%2x",
&braw[0], &braw[1], &braw[2], &braw[3],
&braw[4], &braw[5], &braw[6], &braw[7]);
sc->bs_rec_mbox_offset = braw[1] << 8 | braw[0];
sc->bs_rec_mbox_size = braw[3] << 8 | braw[2];
sc->bs_snd_mbox_offset = braw[5] << 8 | braw[4];
sc->bs_snd_mbox_size = braw[7] << 8 | braw[6];
}
}
return sc;
}
static struct _sii_general *parse_general(SiiInfo *sii, xmlNode *root, xmlNode *device)
{
xmlNode *parent;
xmlNode *node;
xmlNode *tmp;
struct _sii_general *general = calloc(1, sizeof(struct _sii_general));
/* Search group-,image-, order- and namestring and store these strings
* to the corresponding *index.
*
* Note, these strings are Vendor specific.
*/
parent = search_node(root, "Groups");
node = search_node(parent, "Group");
tmp = search_node(node, "Type");
general->groupindex = sii_strings_add(sii, (const char *)tmp->children->content);
general->imageindex = 0;
general->orderindex = 0;
tmp = search_node(device, "Name"); /* FIXME check language id and use the english version LcId="1033" */
general->nameindex = sii_strings_add(sii, (const char *)tmp->children->content);
/* reset temporial nodes */
parent = NULL;
node = NULL;
tmp = NULL;
/* fetch CoE details */
parent = device;
for (xmlAttr *attr = parent->properties; attr; attr = attr->next) {
if (xmlStrcmp(attr->name, Char2xmlChar("Physics")) == 0) {
char *phys = malloc(xmlStrlen(attr->children->content)+1);
memmove(phys, attr->children->content, xmlStrlen(attr->children->content)+1);
for (char *c = phys, port=0; *c != '\0'; c++, port++) {
int val = 0;
switch (*c) {
case 'Y': /* MII */
val = 0x01;
break;
case 'K': /* EBUS */
val = 0x03;
break;
default:
val = 0x00;
break;
}
switch (port) {
case 0:
general->phys_port_0 = val&0xf;
break;
case 1:
general->phys_port_1 = val&0xf;
break;
case 2:
general->phys_port_2 = val&0xf;
break;
case 3:
general->phys_port_3 = val&0xf;
break;
default:
fprintf(stderr, "Error invalid port %d\n", port);
break;
}
}
free(phys);
}
}
node = search_node_bfs(parent, "Mailbox");
tmp = search_node(node, "CoE");
if (tmp != NULL) {
general->coe_enable_sdo = 1;
/* parse the attributes */
for (xmlAttr *attr = tmp->properties; attr; attr = attr->next) {
if (xmlStrcmp(attr->name, Char2xmlChar("SdoInfo")) == 0)
general->coe_enable_sdo_info = parse_boolean(attr->children->content);
if (xmlStrcmp(attr->name, Char2xmlChar("PdoAssign")) == 0)
general->coe_enable_pdo_assign = parse_boolean(attr->children->content);
if (xmlStrcmp(attr->name, Char2xmlChar("PdoConfig")) == 0)
general->coe_enable_pdo_conf = parse_boolean(attr->children->content);
if (xmlStrcmp(attr->name, Char2xmlChar("PdoUpload")) == 0)
general->coe_enable_upload_start = parse_boolean(attr->children->content);
if (xmlStrcmp(attr->name, Char2xmlChar("??sdoComplete")) == 0)
general->coe_enable_sdo_complete = parse_boolean(attr->children->content);
//attr = attr->next;
}
}
tmp = search_node(node, "EoE");
if (tmp != NULL)
general->eoe_enabled = 1;
tmp = search_node(node, "FoE");
if (tmp != NULL)
general->foe_enabled = 1;
return general;
}
static void parse_fmmu(xmlNode *current, SiiInfo *sii)
{
struct _sii_cat *cat = sii_category_find(sii, SII_CAT_FMMU);
if (cat == NULL) { /* create new category */
cat = calloc(1, sizeof(struct _sii_cat));
cat->type = SII_CAT_FMMU;
sii_category_add(sii, cat);
}
if (cat->data == NULL) { /* if category exists but doesn't contain any data */
cat->data = (void *)calloc(1, sizeof(struct _sii_fmmu));
}
struct _sii_fmmu *fmmu = (struct _sii_fmmu *)cat->data;
/* now fetch the data */
xmlChar *content = current->children->content;
if (xmlStrncmp(content, Char2xmlChar("Inputs"), xmlStrlen(content)) == 0)
fmmu_add_entry(fmmu, FMMU_INPUTS);
else if (xmlStrncmp(content, Char2xmlChar("Outputs"), xmlStrlen(content)) == 0)
fmmu_add_entry(fmmu, FMMU_OUTPUTS);
else if (xmlStrncmp(content, Char2xmlChar("MBoxState"), xmlStrlen(content)) == 0)
fmmu_add_entry(fmmu, FMMU_SYNCMSTAT);
else
fmmu_add_entry(fmmu, FMMU_UNUSED);
/* add entry to fmmu struct */
cat->size += 8; /* add size of new fmmu entry */
}
static void parse_syncm(xmlNode *current, SiiInfo *sii)
{
struct _sii_cat *cat = sii_category_find(sii, SII_CAT_SYNCM);
if (cat == NULL) {
cat = calloc(1, sizeof(struct _sii_cat));
cat->type = SII_CAT_SYNCM;
sii_category_add(sii, cat);
}
if (cat->data == NULL) {
cat->data = (void *)calloc(1, sizeof(struct _sii_syncm));
}
/* now fetch the data */
//size_t smsize = 0;
struct _sii_syncm *sm = (struct _sii_syncm *)cat->data;
struct _syncm_entry *entry = calloc(1, sizeof(struct _syncm_entry));
entry->id = -1;
xmlAttr *args = current->properties;
for (xmlAttr *a = args; a ; a = a->next) {
if (xmlStrncmp(a->name, Char2xmlChar("DefaultSize"), xmlStrlen(a->name)) == 0) {
uint32_t tmp = 0;
scan_hex_dec((char *)a->children->content, &tmp);
entry->length = tmp&0xffff;
} else if (xmlStrncmp(a->name, Char2xmlChar("StartAddress"), xmlStrlen(a->name)) == 0) {
uint32_t tmp = 0;
scan_hex_dec((char *)a->children->content, &tmp);
entry->phys_address = tmp&0xffff;
} else if (xmlStrncmp(a->name, Char2xmlChar("ControlByte"), xmlStrlen(a->name)) == 0) {
uint32_t tmp = 0;
scan_hex_dec((char *)a->children->content, &tmp);
entry->control = tmp&0xff;
} else if (xmlStrncmp(a->name, Char2xmlChar("Enable"), xmlStrlen(a->name)) == 0) {
entry->enable = atoi((char *)a->children->content);
}
}
entry->status = 0; /* don't care */
/* type is encoded in the value of the node */
xmlChar *type = current->children->content;
if (xmlStrncmp(type, Char2xmlChar("MBoxIn"), xmlStrlen(type)) == 0)
entry->type = SMT_MBOXIN;
else if (xmlStrncmp(type, Char2xmlChar("MBoxOut"), xmlStrlen(type)) == 0)
entry->type = SMT_MBOXOUT;
else if (xmlStrncmp(type, Char2xmlChar("Inputs"), xmlStrlen(type)) == 0)
entry->type = SMT_INPUTS;
else if (xmlStrncmp(type, Char2xmlChar("Outputs"), xmlStrlen(type)) == 0)
entry->type = SMT_OUTPUTS;
else
entry->type = SMT_UNUSED;
syncm_entry_add(sm, entry);
cat->size += 8; /* a syncmanager entry is 8 bytes */
}
static void parse_dclock(xmlNode *current, SiiInfo *sii)
{
size_t dcsize = 0;
for (xmlNode *op = search_node(current, "OpMode"); op ; op = op->next) {
if (xmlStrncmp(op->name, Char2xmlChar("OpMode"), xmlStrlen(op->name)) != 0) {
continue;
}
struct _sii_cat *cat = calloc(1, sizeof(struct _sii_cat));
cat->type = SII_CAT_DCLOCK;
struct _sii_dclock *dc = calloc(1, sizeof(struct _sii_dclock));
for (xmlNode *vals = op->children; vals; vals = vals->next) {
int tmp = 0;
if (xmlStrncmp(vals->name, Char2xmlChar("Name"), xmlStrlen(vals->name)) == 0) {
dc->nameIdx = (uint8_t)sii_strings_add(sii, (char *)vals->children->content);
} else if (xmlStrncmp(vals->name, Char2xmlChar("Desc"), xmlStrlen(vals->name)) == 0) {
dc->descIdx = (uint8_t)sii_strings_add(sii, (char *)vals->children->content);
} else if (xmlStrncmp(vals->name, Char2xmlChar("AssignActivate"), xmlStrlen(vals->name)) == 0) {
sscanf((char *)vals->children->content, "%d", &tmp);
dc->assignActivate = (uint16_t)tmp;
} else if (xmlStrncmp(vals->name, Char2xmlChar("CycleTimeSync0"), xmlStrlen(vals->name)) == 0) {
sscanf((char *)vals->children->content, "%d", &tmp);
dc->cycleTime0 = (uint32_t)tmp;
} else if (xmlStrncmp(vals->name, Char2xmlChar("CycleTimeSync1"), xmlStrlen(vals->name)) == 0) {
sscanf((char *)vals->children->content, "%d", &tmp);
dc->cycleTime1 = (uint32_t)tmp;
} else if (xmlStrncmp(vals->name, Char2xmlChar("ShiftTimeSync0"), xmlStrlen(vals->name)) == 0) {
sscanf((char *)vals->children->content, "%d", &tmp);
dc->shiftTime0 = (uint32_t)tmp;
} else if (xmlStrncmp(vals->name, Char2xmlChar("ShiftTimeSync1"), xmlStrlen(vals->name)) == 0) {
sscanf((char *)vals->children->content, "%d", &tmp);
dc->shiftTime1 = (uint32_t)tmp;
}
}
cat->data = (void *)dc;
cat->size = dcsize;
sii_category_add(sii, cat);
}
}
struct _coe_datatypes {
int index;
char *coename;
char *esiname;
};
static int parse_pdo_get_data_type(char *xmldatatype)
{
/* FIXME make match of CoE datatypes and xml description of types
* see table in document ETG 2000.S Page 18
*/
struct _coe_datatypes datatypes[] = {
{ 0, "UNDEF", "UNDEF" },
{ 0x0001, "BOOLEAN", "BOOL" },
{ 0x0002, "INTEGER8", "SINT" },
{ 0x0003, "INTEGER16", "INT" },
{ 0x0004, "INTEGER32", "DINT" },
{ 0x0005, "UNSIGNED8", "USINT" },
{ 0x0006, "UNSIGNED16", "UINT" },
{ 0x0007, "UNSIGNED32", "UDINT" },
{ 0x0008, "REAL32", "REAL" },
{ 0x0009, "VISIBLE_STRING", "STRING" },
{ 0x000A, "OCTET_STRING", "OF BYTE" },
{ 0x000B, "UNICODE_STRING", "OF UINT" },
{ 0x0010, "INTEGER24", "INT24" },
{ 0x0011, "REAL64", "LREAL" },
{ 0x0012, "INTEGER40", "INT40" },
{ 0x0013, "INTEGER48", "INT48" },
{ 0x0014, "INTEGER56", "INT56" },
{ 0x0015, "INTEGER64", "INT64" },
{ 0x0016, "UNSIGNED24", "UINT24" },
//{ 0x0017, "Reserved", "" },
{ 0x0018, "UNSIGNED40", "UINT40" },
{ 0x0019, "UNSIGNED48", "UINT48" },
{ 0x001A, "UNSIGNED56", "UINT56" },
{ 0x001B, "UNSIGNED64", "UINT64" },
//{ 0x001C-0x001F, "reserved", "" },
{ 0, NULL, NULL }
};
for (struct _coe_datatypes *dt = datatypes; dt->esiname != NULL; dt++) {
if (strncmp(dt->esiname, xmldatatype, strlen(dt->esiname)) == 0)
return dt->index;
}
return -1; /* unrecognized */
}
static struct _pdo_entry *parse_pdo_entry(xmlNode *val, SiiInfo *sii, int include_pdo_strings)
{
struct _pdo_entry *entry = calloc(1, sizeof(struct _pdo_entry));
int tmp = 0;
for (xmlNode *child = val->children; child; child = child->next) {
if (xmlStrncmp(child->name, Char2xmlChar("Index"), xmlStrlen(child->name)) == 0) {
scan_hex_dec((char *)child->children->content, (uint32_t *)&tmp);
entry->index = tmp&0xffff;
tmp = 0;
} else if (xmlStrncmp(child->name, Char2xmlChar("SubIndex"), xmlStrlen(child->name)) == 0) {
tmp = atoi((char *)child->children->content);
entry->subindex = tmp&0xff;
tmp = 0;
} else if (xmlStrncmp(child->name, Char2xmlChar("BitLen"), xmlStrlen(child->name)) == 0) {
entry->bit_length = atoi((char *)child->children->content);
} else if (xmlStrncmp(child->name, Char2xmlChar("Name"), xmlStrlen(child->name)) == 0) {
/* again, write this to the string category and store index to string here. */
if (child->children == NULL) {
fprintf(stderr, "[WARNING] Reading child content of size 0 (line: %d)\n", child->line);
tmp = -1;
} else {
if (include_pdo_strings)
tmp = sii_strings_add(sii, (char *)child->children->content);
else
tmp = 0;
}
if (tmp < 0) {
fprintf(stderr, "Error creating input string!\n");
entry->string_index = 0;
} else {
entry->string_index = (uint8_t)tmp&0xff;
}
} else if (xmlStrncmp(child->name, Char2xmlChar("DataType"), xmlStrlen(child->name)) == 0) {
if (child->children == NULL) {
fprintf(stderr, "Warning unspecified datatype found. Please check your ESI, datatype is set to 0\n");
continue;
}
int dt = parse_pdo_get_data_type((char *)child->children->content);
if (dt <= 0)
fprintf(stderr, "Warning unrecognized esi data type '%s'\n", (char *)child->children->content);
else
entry->data_type = (uint8_t)dt;
#if 0 /* doesn't help much, except for debugging */
} else {
fprintf(stderr, "Warning, unrecognized pdo setting: '%s'\n",
(char *)child->name);
#endif
}
}
/* ETG2000 describes the fixed flag for PDO entries but in ETG2010 the
* PDO entries don't have the flags described. */
for (xmlAttr *attr = val->properties; attr; attr = attr->next) {
if (xmlStrncmp(attr->name, Char2xmlChar("Fixed"), xmlStrlen(attr->name)) == 0) {
int tmp = scan_bool_value((const char *)attr->children->content);
entry->flags |= (tmp<<4)&0xff;
}
}
return entry;
}
static void parse_pdo_attribute_flags(xmlNode *current, struct _sii_pdo *pdo)
{
int tmp = 0;
/* Get Arguments for SyncManager */
for (xmlAttr *attr = current->properties; attr; attr = attr->next) {
if (xmlStrncmp(attr->name, Char2xmlChar("Sm"), xmlStrlen(attr->name)) == 0) {
pdo->syncmanager = atoi((char *)attr->children->content);
}
else if (xmlStrncmp(attr->name, Char2xmlChar("Fixed"), xmlStrlen(attr->name)) == 0) {
tmp = scan_bool_value((const char *)attr->children->content);
pdo->flags |= (tmp<<4)&0xff;
}
else if (xmlStrncmp(attr->name, Char2xmlChar("Mandatory"), xmlStrlen(attr->name)) == 0) {
tmp = scan_bool_value((const char *)attr->children->content);
pdo->flags |= (tmp<<0)&0xff;
}
else if (xmlStrncmp(attr->name, Char2xmlChar("Virtual"), xmlStrlen(attr->name)) == 0) {
tmp = scan_bool_value((const char *)attr->children->content);
pdo->flags |= (tmp<<5)&0xff;
}
else if (xmlStrncmp(attr->name, Char2xmlChar("OverwrittenByModule"), xmlStrlen(attr->name)) == 0) {
tmp = scan_bool_value((const char *)attr->children->content);
pdo->flags |= (tmp<<7)&0xff;
}
}
}
static void parse_pdo(xmlNode *current, SiiInfo *sii, int include_pdo_strings)
{
enum eSection type;
if (xmlStrcmp(current->name, Char2xmlChar("RxPdo")) == 0)
type = SII_CAT_RXPDO;
else if(xmlStrcmp(current->name, Char2xmlChar("TxPdo")) == 0)
type = SII_CAT_TXPDO;
else {
fprintf(stderr, "[%s] Error, no PDO type\n", __func__);
return;
}
struct _sii_cat *cat = calloc(1, sizeof(struct _sii_cat));
cat->type = type;
sii_category_add(sii, cat);
if (cat->data == NULL) {
cat->data = (void *)calloc(1, sizeof(struct _sii_pdo));
}
struct _sii_pdo *pdo = (struct _sii_pdo *)cat->data;
if (type == SII_CAT_RXPDO)
pdo->type = RxPDO; //SII_RX_PDO;
else if (type == SII_CAT_TXPDO)
pdo->type = TxPDO; //SII_TX_PDO;
else
pdo->type = 0;
pdo->dcsync = 0;
pdo->flags = 0;
size_t pdosize = 8; /* base size of pdo */
parse_pdo_attribute_flags(current, pdo);
/* get node Name and node Index */
/* then parse the pdo list - all <Entry> children */
for (xmlNode *val = current->children; val; val = val->next) {
if (xmlStrncmp(val->name, Char2xmlChar("Name"), xmlStrlen(val->name)) == 0) {
int tmp = 0;
if (include_pdo_strings)
tmp = sii_strings_add(sii, (char *)val->children->content);
if (tmp < 0) {
fprintf(stderr, "Error creating input string!\n");
pdo->name_index = 0;
} else {
pdo->name_index = (uint8_t)tmp&0xff;
}
} else if (xmlStrncmp(val->name, Char2xmlChar("Index"), xmlStrlen(val->name)) == 0) {
uint32_t tmp = 0;
scan_hex_dec((char *)val->children->content, &tmp);
pdo->index = tmp&0xffff;
} else if (xmlStrncmp(val->name, Char2xmlChar("Entry"), xmlStrlen(val->name)) == 0) {
/* add new pdo entry */
pdo->entries += 1;
struct _pdo_entry *entry = parse_pdo_entry(val, sii, include_pdo_strings);
pdo_entry_add(pdo, entry);
pdosize += 8; /* size of every pdo entry */
}
}
cat->size = pdosize;
}
/* API function */
struct _esi_data *esi_init(const char *file)
{
if (file == NULL) {
fprintf(stderr, "Warning, init with empty filename\n");
return NULL;
}
struct _esi_data *esi = (struct _esi_data *)calloc(1, sizeof(struct _esi_data));
enum eFileType type = efile_type(file);
switch (type) {
case SIIBIN:
/* init with sii bin */
esi->sii = sii_init_file(file);
if (esi->sii == NULL) {
fprintf(stderr, "Failed to read SII bin file '%s'\n", file);
free(esi);
return NULL;
}
break;
case XML:
/* init with xml */
LIBXML_TEST_VERSION
esi->sii = sii_init();
esi->doc = xmlReadFile(file, NULL, 0);
if (esi->doc == NULL) {
fprintf(stderr, "Failed to parse XML file '%s'\n", file);
free(esi->sii);
free(esi);
return NULL;
}
break;
case UNKNOWN:
default:
/* init empty ??? */
free(esi);
esi = NULL;
break;
}
return esi;
}
/* FIXME Input type is already given in the calling function parse_xml_input() */
EsiData *esi_init_string(const unsigned char *buf, size_t size)
{
EsiData *esi = calloc(1, sizeof(struct _esi_data));
enum eFileType type = UNKNOWN;
if (strncmp((const char *)buf, "<?xml", 5) == 0)
type = XML;
else
type = SIIBIN;
switch (type) {
case SIIBIN:
/* init with sii bin */
esi->sii = sii_init_string(buf, size);
if (esi->sii == NULL) {
fprintf(stderr, "Failed to read SII bin.\n");
free(esi);
return NULL;
}
break;
case XML:
/* init with xml */
LIBXML_TEST_VERSION
esi->sii = sii_init();
esi->doc = xmlReadMemory((const char *)buf, size, "noname.xml", NULL, 0);
if (esi->doc == NULL) {
fprintf(stderr, "Failed to parse XML.\n");
sii_release(esi->sii);
esi_release(esi);
return NULL;
}
break;
case UNKNOWN:
default:
/* init empty ??? */