cbb
8d414ae3fb
目录名 ecat 过泛(tools/ 下另有 ESP32), 按同级项目 DCU_APP / ESP32_COMM / spi_link 的风格定名 dcu-ecat-master: dcu 限定归属, ecat-master 表明是 EtherCAT 主站侧工具(区别于从站固件)。远端托管用小写连字符形式。 名字写入 README 标题(对外可见)与 .git/description(本地元数据)。 同时把 _probe_scan.py(扫描响应帧头在 SM1 RAM 的确切偏移)登记进脚本表, 补齐 _probe_wedge2 / _probe_stuck 两行说明。
70 lines
2.0 KiB
Python
70 lines
2.0 KiB
Python
"""_probe_scan.py — 精确定位响应帧头在 SM1 RAM 的偏移 + SM0 请求侧同步 dump。"""
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import struct
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import sys
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import time
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import ecat_server as es
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import pysoem
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r = es.api_open({"substr": "I226"})
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if not r.get("ok"):
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sys.exit(1)
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m = es.g_master
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s = m.slaves[0]
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def fprd(addr, size):
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try:
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return bytes(s._fprd(addr, size, 20000))
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except Exception:
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return None
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def sm_reg(addr):
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d = fprd(addr, 8)
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if d is None:
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return None
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start, length = struct.unpack("<HH", d[:4])
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return {"start": start, "len": length, "ctl": d[4], "st": d[5], "act": d[6]}
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m.state = pysoem.INIT_STATE | pysoem.STATE_ACK
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m.write_state()
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m.state_check(pysoem.INIT_STATE, 1_000_000)
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m.config_init()
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m.state = pysoem.PREOP_STATE | pysoem.STATE_ACK
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m.write_state()
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print("PREOP:", "OK" if m.state_check(pysoem.PREOP_STATE, 1_000_000) == pysoem.PREOP_STATE else "FAIL", flush=True)
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sm0, sm1 = sm_reg(0x0800), sm_reg(0x0808)
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print(f"SM0: start=0x{sm0['start']:04X} len={sm0['len']} | SM1: start=0x{sm1['start']:04X} len={sm1['len']}", flush=True)
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# 注入请求(SOEM 标准格式 SDO 读 0x1018:01)
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req = bytes([0x0A, 0x00, 0x00, 0x00, 0x00, 0x03,
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0x00, 0x10, 0x40, 0x01, 0x18, 0x10, 0x01, 0x00, 0x00, 0x00])
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mbx = (req + bytes(sm0["len"]))[:sm0["len"]]
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s._fpwr(sm0["start"], mbx)
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print("请求已写入 SM0", flush=True)
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time.sleep(0.2)
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# 扫描 SM1 start-8 .. start+72
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base = sm1["start"]
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d = fprd(base - 8, 80)
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if d:
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print(f"\nSM1 RAM 扫描 [0x{base - 8:04X} .. 0x{base + 72:04X}]:", flush=True)
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for i in range(0, 80, 8):
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chunk = d[i:i + 8]
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off = i - 8
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mark = " <-- SM1.start" if off == 0 else ""
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print(f" {off:+4d} (0x{base + off:04X}): {chunk.hex().upper()}{mark}", flush=True)
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st1 = sm_reg(0x0808)
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print(f"\nSM1 st=0x{st1['st']:02X}(bit3={st1['st'] >> 3 & 1})", flush=True)
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# 同步看 SM0 侧(请求是否被读走)
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st0 = sm_reg(0x0800)
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print(f"SM0 st=0x{st0['st']:02X}(bit3={st0['st'] >> 3 & 1})", flush=True)
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es.api_close({})
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print("DONE", flush=True)
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