121 lines
3.7 KiB
Python
121 lines
3.7 KiB
Python
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#!/usr/bin/env python
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"""EtherCAT master bring-up test for the DCU LAN9252 slave (pysoem >= 1.1 API).
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Usage:
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ecat_scan.py list all Npcap adapters and exit
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ecat_scan.py <name-substr> open the first adapter whose description matches
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the substring (e.g. "I226"), scan the bus and
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print slave identity + SII EEPROM dump
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ecat_scan.py <substr> --op additionally request OP and run PDO cycles for 2s
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"""
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import sys
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import time
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try:
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import pysoem
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except ImportError:
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print("pysoem 无法加载：请先安装 Npcap（本目录下的 npcap-1.88.exe，"
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"安装时保持勾选 'Install WinPcap API-compatible Mode'）")
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sys.exit(1)
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AL_STATE = {1: "INIT", 2: "PREOP", 4: "SAFEOP", 8: "OP"}
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def al_state_name(code):
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return AL_STATE.get(code, f"0x{code:02x}")
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def list_adapters():
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for i, a in enumerate(pysoem.find_adapters()):
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desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
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print(f"[{i}] {desc}\n {a.name}")
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def find_adapter(substr):
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for a in pysoem.find_adapters():
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desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
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if substr.lower() in desc.lower():
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return a
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return None
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def dump_eeprom(slave, count=0x10):
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print(" SII EEPROM dump (每行 8 个 word 地址，原始 32bit 返回):")
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for base in range(0, count, 8):
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words = []
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for w in range(base, base + 8):
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try:
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v = bytes(slave.eeprom_read(w))
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words.append(v.hex().upper())
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except Exception:
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words.append("ERRRRRRRR")
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print(f" 0x{base:02X}: {' '.join(words)}")
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def main():
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if len(sys.argv) < 2 or sys.argv[1] in ("-l", "--list"):
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list_adapters()
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return
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substr = sys.argv[1]
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want_op = "--op" in sys.argv[2:]
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adapter = find_adapter(substr)
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if adapter is None:
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print(f"没有找到描述包含 {substr!r} 的适配器，当前列表：")
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list_adapters()
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sys.exit(1)
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desc = adapter.desc.decode() if isinstance(adapter.desc, bytes) else adapter.desc
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master = pysoem.Master()
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master.open(adapter.name)
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try:
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n = master.config_init()
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except Exception as e:
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print(f"总线上没有发现从站（{type(e).__name__}: {e}）："
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"请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
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sys.exit(2)
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if not n:
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print("总线上没有发现从站：请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
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sys.exit(2)
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print(f"\n适配器: {desc}")
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print(f"发现 {n} 个从站:")
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for i, s in enumerate(master.slaves):
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print(f" [{i}] name={s.name!r}")
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print(f" VendorID=0x{s.man:08X} ProductCode=0x{s.id:08X} Revision={s.rev}")
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print(f" AL state={al_state_name(s.state)} AL status code=0x{s.al_status:04X}"
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f" DC={s.dc_sync}")
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dump_eeprom(master.slaves[0])
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if not want_op:
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return
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master.config_map()
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if master.state_check(pysoem.SAFEOP_STATE, 2000) != pysoem.SAFEOP_STATE:
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print(f"进入 SAFEOP 失败, 当前 AL 状态: {al_state_name(master.state)}")
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sys.exit(3)
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t_end = time.time() + 2.0
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frames = 0
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while time.time() < t_end:
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master.send_processdata()
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master.receive_processdata(2000)
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frames += 1
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time.sleep(0.001)
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master.state = pysoem.OP_STATE
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master.write_state()
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if master.state_check(pysoem.OP_STATE, 2000) == pysoem.OP_STATE:
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print(f"已进入 OP, PDO 循环 {frames} 帧正常")
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else:
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print(f"进入 OP 失败, 当前 AL 状态: {al_state_name(master.state)}")
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if __name__ == "__main__":
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main()
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