cbb
beb33ffe50
18 个文件平铺根目录太乱, 按角色归拢: web/ ecat.html/css + motor.html/js —— 前端资源 diag/ ecat_scan / ecat_sniff / ecat_esc_regs —— 独立诊断脚本, 互不依赖 launch/ 5 个 .bat/.vbs 双击入口 根目录只留 ecat_server / ecat_tool / ecat_flash_eeprom / test_motor_backend: 这几个互相 import(tool→flash_eeprom, test→server), 挪进子目录就得改 import 或加包, 收益不抵成本。 配套改动: _STATIC_MAP 的值加 web/ 前缀 —— URL 路径刻意保持不变(/、/ecat.css、 /motor.html), 页面内相对引用、书签、外部链接一律不用改。 launch/ 里 %~dp0 现在指向 launch\, 五个启动器统一改为先取上一层作 ROOT (bat 用 %~dp0.., vbs 用两次 GetParentFolderName), run_scan 顺带指向 diag\ecat_scan.py。 验证: 7 个 py 全编译通过; test_motor_backend 8 项全通过; 服务实起后 6 条 静态路由全 200 且 MIME 正确(js 是 application/javascript)、404 兜底正常; Edge headless 渲染主页与 motor 页, CSS 294 规则加载、9 个节点样式生效、 零加载失败零 JS 异常; bat/vbs 的 ROOT 解析实测指到项目根, 五个目标文件 全部命中; ecat_tool adapters 与 diag/ecat_scan.py 实跑正常。
121 lines
3.7 KiB
Python
121 lines
3.7 KiB
Python
#!/usr/bin/env python
|
||
"""EtherCAT master bring-up test for the DCU LAN9252 slave (pysoem >= 1.1 API).
|
||
|
||
Usage:
|
||
ecat_scan.py list all Npcap adapters and exit
|
||
ecat_scan.py <name-substr> open the first adapter whose description matches
|
||
the substring (e.g. "I226"), scan the bus and
|
||
print slave identity + SII EEPROM dump
|
||
ecat_scan.py <substr> --op additionally request OP and run PDO cycles for 2s
|
||
"""
|
||
import sys
|
||
import time
|
||
|
||
try:
|
||
import pysoem
|
||
except ImportError:
|
||
print("pysoem 无法加载：请先安装 Npcap（本目录下的 npcap-1.88.exe，"
|
||
"安装时保持勾选 'Install WinPcap API-compatible Mode'）")
|
||
sys.exit(1)
|
||
|
||
|
||
AL_STATE = {1: "INIT", 2: "PREOP", 4: "SAFEOP", 8: "OP"}
|
||
|
||
|
||
def al_state_name(code):
|
||
return AL_STATE.get(code, f"0x{code:02x}")
|
||
|
||
|
||
def list_adapters():
|
||
for i, a in enumerate(pysoem.find_adapters()):
|
||
desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
|
||
print(f"[{i}] {desc}\n {a.name}")
|
||
|
||
|
||
def find_adapter(substr):
|
||
for a in pysoem.find_adapters():
|
||
desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
|
||
if substr.lower() in desc.lower():
|
||
return a
|
||
return None
|
||
|
||
|
||
def dump_eeprom(slave, count=0x10):
|
||
print(" SII EEPROM dump (每行 8 个 word 地址，原始 32bit 返回):")
|
||
for base in range(0, count, 8):
|
||
words = []
|
||
for w in range(base, base + 8):
|
||
try:
|
||
v = bytes(slave.eeprom_read(w))
|
||
words.append(v.hex().upper())
|
||
except Exception:
|
||
words.append("ERRRRRRRR")
|
||
print(f" 0x{base:02X}: {' '.join(words)}")
|
||
|
||
|
||
def main():
|
||
if len(sys.argv) < 2 or sys.argv[1] in ("-l", "--list"):
|
||
list_adapters()
|
||
return
|
||
|
||
substr = sys.argv[1]
|
||
want_op = "--op" in sys.argv[2:]
|
||
|
||
adapter = find_adapter(substr)
|
||
if adapter is None:
|
||
print(f"没有找到描述包含 {substr!r} 的适配器，当前列表：")
|
||
list_adapters()
|
||
sys.exit(1)
|
||
|
||
desc = adapter.desc.decode() if isinstance(adapter.desc, bytes) else adapter.desc
|
||
master = pysoem.Master()
|
||
master.open(adapter.name)
|
||
|
||
try:
|
||
n = master.config_init()
|
||
except Exception as e:
|
||
print(f"总线上没有发现从站（{type(e).__name__}: {e}）："
|
||
"请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
|
||
sys.exit(2)
|
||
|
||
if not n:
|
||
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")
|
||
sys.exit(2)
|
||
|
||
print(f"\n适配器: {desc}")
|
||
print(f"发现 {n} 个从站:")
|
||
for i, s in enumerate(master.slaves):
|
||
print(f" [{i}] name={s.name!r}")
|
||
print(f" VendorID=0x{s.man:08X} ProductCode=0x{s.id:08X} Revision={s.rev}")
|
||
print(f" AL state={al_state_name(s.state)} AL status code=0x{s.al_status:04X}"
|
||
f" DC={s.dc_sync}")
|
||
|
||
dump_eeprom(master.slaves[0])
|
||
|
||
if not want_op:
|
||
return
|
||
|
||
master.config_map()
|
||
if master.state_check(pysoem.SAFEOP_STATE, 2000) != pysoem.SAFEOP_STATE:
|
||
print(f"进入 SAFEOP 失败, 当前 AL 状态: {al_state_name(master.state)}")
|
||
sys.exit(3)
|
||
|
||
t_end = time.time() + 2.0
|
||
frames = 0
|
||
while time.time() < t_end:
|
||
master.send_processdata()
|
||
master.receive_processdata(2000)
|
||
frames += 1
|
||
time.sleep(0.001)
|
||
|
||
master.state = pysoem.OP_STATE
|
||
master.write_state()
|
||
if master.state_check(pysoem.OP_STATE, 2000) == pysoem.OP_STATE:
|
||
print(f"已进入 OP, PDO 循环 {frames} 帧正常")
|
||
else:
|
||
print(f"进入 OP 失败, 当前 AL 状态: {al_state_name(master.state)}")
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main()
|