feat: add slave table for some slaves

Signed-off-by: sakumisu <1203593632@qq.com>

CMakeLists.txt

@@ -17,6 +17,7 @@ if(CONFIG_CHERRYECAT)
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_sii.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_slave.c
         ${CMAKE_CURRENT_LIST_DIR}/src/ec_timestamp.c
+        ${CMAKE_CURRENT_LIST_DIR}/src/ec_slave_table.c
         ${CMAKE_CURRENT_LIST_DIR}/src/phy/chry_phy.c
     )
 

SConscript

@@ -20,6 +20,7 @@ src += Glob('src/ec_netdev.c')
 src += Glob('src/ec_sii.c')
 src += Glob('src/ec_slave.c')
 src += Glob('src/ec_timestamp.c')
+src += Glob('src/ec_slave_table.c')
 src += Glob('src/phy/chry_phy.c')
 src += Glob('osal/ec_osal_rtthread.c')
 

include/ec_def.h

@@ -573,4 +573,11 @@ typedef struct {
     ec_watchdog_mode_t watchdog_mode;
 } ec_sync_info_t;
 
+#define EC_CIA402_OPERATION_MODE_NO_MODE 0x00
+#define EC_CIA402_OPERATION_MODE_CSP     0x01
+#define EC_CIA402_OPERATION_MODE_CSV     0x02
+#define EC_CIA402_OPERATION_MODE_CSP_CSV 0x03
+#define EC_CIA402_OPERATION_MODE_CST     0x04
+#define EC_CIA402_OPERATION_MODE_HOME    0x05
+
 #endif

include/ec_master.h

@@ -125,4 +125,10 @@ uint32_t ec_master_get_slave_domain_size(ec_master_t *master, uint32_t slave_ind
 uint32_t ec_master_get_slave_domain_osize(ec_master_t *master, uint32_t slave_index);
 uint32_t ec_master_get_slave_domain_isize(ec_master_t *master, uint32_t slave_index);
 
+int ec_master_find_slave_sync_info(uint32_t vendor_id,
+                                   uint32_t product_code,
+                                   uint32_t revision_number,
+                                   uint8_t cia402_mode,
+                                   ec_sync_info_t **syncs,
+                                   uint8_t *sync_count);
 #endif

scripts/eni_parser.py

@@ -256,7 +256,7 @@ class ENIParser:
             for pdo in process_data['rx_pdos']:
                 pdo_index = pdo.get('index', 0)
                 pdo_hex = f"{pdo_index:04x}"
-                entries_name = f"{slave_name}_{pdo_hex}"
+                entries_name = f"{slave_name}_output_pdo_entries"
 
                 if entries_name not in rx_entries_generated:
                     lines.append(f"static ec_pdo_entry_info_t {entries_name}[] = {{")
@@ -275,7 +275,7 @@ class ENIParser:
             for pdo in process_data['tx_pdos']:
                 pdo_index = pdo.get('index', 0)
                 pdo_hex = f"{pdo_index:04x}"
-                entries_name = f"{slave_name}_{pdo_hex}"
+                entries_name = f"{slave_name}_input_pdo_entries"
 
                 if entries_name not in tx_entries_generated:
                     lines.append(f"static ec_pdo_entry_info_t {entries_name}[] = {{")
@@ -289,43 +289,46 @@ class ENIParser:
                     lines.append("")
                     tx_entries_generated.add(entries_name)
 
-            # 生成RxPDO info
-            if process_data['rx_pdos']:
-                lines.append(f"static ec_pdo_info_t {slave_name}_rxpdos[] = {{")
+            # 生成统一的PDO info数组（合并RxPDO和TxPDO）
+            if process_data['rx_pdos'] or process_data['tx_pdos']:
+                lines.append(f"static ec_pdo_info_t {slave_name}_pdos[] = {{")
+
+                # 添加RxPDO (输出)
                 for pdo in process_data['rx_pdos']:
                     pdo_index = pdo.get('index', 0)
-                    pdo_hex = f"{pdo_index:04x}"
-                    entries_name = f"{slave_name}_{pdo_hex}"
+                    entries_name = f"{slave_name}_output_pdo_entries"
                     entry_count = len(pdo.get('entries', []))
-                    lines.append(f"    {{ 0x{pdo_index:04x}, {entry_count}, &{entries_name}[0] }},")
-                lines.append("};")
-                lines.append("")
+                    lines.append(f"    {{ 0x{pdo_index:04x}, {entry_count}, {entries_name} }},")
 
-            # 生成TxPDO info
-            if process_data['tx_pdos']:
-                lines.append(f"static ec_pdo_info_t {slave_name}_txpdos[] = {{")
+                # 添加TxPDO (输入)
                 for pdo in process_data['tx_pdos']:
                     pdo_index = pdo.get('index', 0)
-                    pdo_hex = f"{pdo_index:04x}"
-                    entries_name = f"{slave_name}_{pdo_hex}"
+                    entries_name = f"{slave_name}_input_pdo_entries"
                     entry_count = len(pdo.get('entries', []))
-                    lines.append(f"    {{ 0x{pdo_index:04x}, {entry_count}, &{entries_name}[0] }},")
+                    lines.append(f"    {{ 0x{pdo_index:04x}, {entry_count}, {entries_name} }},")
+
                 lines.append("};")
                 lines.append("")
 
             # 生成同步管理器配置
-            lines.append(f"static ec_sync_info_t {slave_name}_syncs[] = {{")
+            if process_data['rx_pdos'] or process_data['tx_pdos']:
+                lines.append(f"static ec_sync_info_t {slave_name}_syncs[] = {{")
 
-            # 添加SM2 (输出)
-            if process_data['rx_pdos']:
-                lines.append(f"    {{ 2, EC_DIR_OUTPUT, {len(process_data['rx_pdos'])}, {slave_name}_rxpdos }},")
+                pdo_index = 0  # PDO数组中的索引
 
-            # 添加SM3 (输入)
-            if process_data['tx_pdos']:
-                lines.append(f"    {{ 3, EC_DIR_INPUT, {len(process_data['tx_pdos'])}, {slave_name}_txpdos }},")
+                # 添加SM2 (输出)
+                if process_data['rx_pdos']:
+                    rx_pdo_count = len(process_data['rx_pdos'])
+                    lines.append(f"    {{ 2, EC_DIR_OUTPUT, {rx_pdo_count}, &{slave_name}_pdos[{pdo_index}], EC_WD_DISABLE }},")
+                    pdo_index += rx_pdo_count
 
-            lines.append("};")
-            lines.append("")
+                # 添加SM3 (输入)
+                if process_data['tx_pdos']:
+                    tx_pdo_count = len(process_data['tx_pdos'])
+                    lines.append(f"    {{ 3, EC_DIR_INPUT, {tx_pdo_count}, &{slave_name}_pdos[{pdo_index}], EC_WD_DISABLE }},")
+
+                lines.append("};")
+                lines.append("")
 
         return "\n".join(lines)
 

src/ec_slave_table.c

@@ -0,0 +1,289 @@
+/*
+ * Copyright (c) 2025, sakumisu
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "ec_master.h"
+
+// HPM IO, VID 0x0048504D, PID 0x00000001
+static ec_pdo_entry_info_t hpm_dio_output_pdo_entries[] = {
+    { 0x6000, 0x00, 0x20 },
+};
+
+static ec_pdo_entry_info_t hpm_dio_input_pdo_entries[] = {
+    { 0x7010, 0x00, 0x20 },
+};
+
+static ec_pdo_info_t hpm_dio_pdos[] = {
+    { 0x1600, 1, hpm_dio_output_pdo_entries },
+    { 0x1a00, 1, hpm_dio_input_pdo_entries },
+
+};
+
+static ec_sync_info_t hpm_dio_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &hpm_dio_pdos[0], EC_WD_DISABLE },
+    { 3, EC_DIR_INPUT, 1, &hpm_dio_pdos[1], EC_WD_DISABLE },
+};
+
+// HPM CIA402 CSV, VID 0x0048504D, PID 0x00000003/0x00000004
+static ec_pdo_entry_info_t hpm_cia402_csv_output_pdo_entries[] = {
+    { 0x6040, 0x00, 0x10 }, // Control Word
+    { 0x60ff, 0x00, 0x20 }, // Target velocity
+    { 0x0000, 0x00, 0x10 }, // Padding
+};
+
+static ec_pdo_entry_info_t hpm_cia402_csv_input_pdo_entries[] = {
+    { 0x6041, 0x00, 0x10 }, // Status Word
+    { 0x6064, 0x00, 0x20 }, // Actual Position
+    { 0x0000, 0x00, 0x10 }, // Padding
+};
+
+static ec_pdo_info_t hpm_cia402_csv_pdos[] = {
+    { 0x1602, 3, hpm_cia402_csv_output_pdo_entries },
+    { 0x1a02, 3, hpm_cia402_csv_input_pdo_entries },
+
+};
+
+static ec_sync_info_t hpm_cia402_csv_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &hpm_cia402_csv_pdos[0] },
+    { 3, EC_DIR_INPUT, 1, &hpm_cia402_csv_pdos[1] },
+};
+
+// HPM CIA402 CSP, VID 0x0048504D, PID 0x00000003/0x00000004
+static ec_pdo_entry_info_t hpm_cia402_csp_output_pdo_entries[] = {
+    { 0x6040, 0x00, 0x10 }, // Control Word
+    { 0x607A, 0x00, 0x20 }, // Target position
+    { 0x0000, 0x00, 0x10 }, // Padding
+};
+
+static ec_pdo_entry_info_t hpm_cia402_csp_input_pdo_entries[] = {
+    { 0x6041, 0x00, 0x10 }, // Status Word
+    { 0x6064, 0x00, 0x20 }, // Actual Position
+    { 0x0000, 0x00, 0x10 }, // Padding
+};
+
+static ec_pdo_info_t hpm_cia402_csp_pdos[] = {
+    { 0x1601, 3, hpm_cia402_csp_output_pdo_entries },
+    { 0x1a01, 3, hpm_cia402_csp_input_pdo_entries },
+
+};
+
+static ec_sync_info_t hpm_cia402_csp_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &hpm_cia402_csp_pdos[0], EC_WD_DISABLE },
+    { 3, EC_DIR_INPUT, 1, &hpm_cia402_csp_pdos[1], EC_WD_DISABLE },
+};
+
+// EM32DX-E4-V30, VID 0x00004321, PID 0x01100073, REV 0x18050210
+static ec_pdo_entry_info_t em32dx_4e_v30_output_pdo_entries[] = {
+    { 0x6000, 0x01, 0x10 },
+};
+
+static ec_pdo_entry_info_t em32dx_4e_v30_input_pdo_entries[] = {
+    { 0x7000, 0x01, 0x10 },
+};
+
+static ec_pdo_info_t em32dx_4e_v30_pdos[] = {
+    { 0x1600, 1, em32dx_4e_v30_output_pdo_entries },
+    { 0x1a00, 1, em32dx_4e_v30_input_pdo_entries },
+
+};
+
+static ec_sync_info_t em32dx_4e_v30_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &em32dx_4e_v30_pdos[0], EC_WD_DISABLE },
+    { 3, EC_DIR_INPUT, 1, &em32dx_4e_v30_pdos[1], EC_WD_DISABLE },
+};
+
+// SG-ELC IO, VID 0xEE000002, PID 0x00010204, REV 0x00000001
+static ec_pdo_entry_info_t sg_elc_output_pdo_entries[] = {
+    { 0x3101, 0x01, 0x08 },
+    { 0x3101, 0x02, 0x08 },
+};
+
+static ec_pdo_entry_info_t sg_elc_input_pdo_entries[] = {
+    { 0x3001, 0x01, 0x08 },
+    { 0x3001, 0x02, 0x08 },
+};
+
+static ec_pdo_info_t sg_elc_pdos[] = {
+    { 0x1600, 1, &sg_elc_output_pdo_entries[0] },
+    { 0x1601, 1, &sg_elc_output_pdo_entries[1] },
+    { 0x1a00, 1, &sg_elc_input_pdo_entries[0] },
+    { 0x1a01, 1, &sg_elc_input_pdo_entries[1] },
+};
+
+static ec_sync_info_t sg_elc_syncs[] = {
+    { 0, EC_DIR_OUTPUT, 1, &sg_elc_pdos[0], EC_WD_DISABLE },
+    { 1, EC_DIR_OUTPUT, 1, &sg_elc_pdos[1], EC_WD_DISABLE },
+    { 2, EC_DIR_INPUT, 2, &sg_elc_pdos[2], EC_WD_DISABLE },
+};
+
+// Inovance SV660N CSP, VID 0x00100000, PID 0x000C010D, REV 0x00010000
+static ec_pdo_entry_info_t sv660n_csp_output_pdo_entries[] = {
+    { 0x6060, 0x00, 8 },  // 6060h(mode)
+    { 0x6040, 0x00, 16 }, // 6040h(control)
+    { 0x607A, 0x00, 32 }, // 607Ah(dest position)
+    { 0x60FF, 0x00, 32 }, // 60FFh(dest speed)
+    { 0x6071, 0x00, 16 }, // 6071h(dest torque)
+};
+
+static ec_pdo_entry_info_t sv660n_csp_input_pdo_entries[] = {
+    { 0x603F, 0x00, 16 }, // 603Fh(error)
+    { 0x6041, 0x00, 16 }, // 6041h(status)
+    { 0x6064, 0x00, 32 }, // 6064h(current postion)
+    { 0x606C, 0x00, 32 }, // 606Ch(current speed)
+    { 0x6077, 0x00, 16 }, // 6077h(current torque)
+};
+
+static ec_pdo_info_t sv660n_csp_pdos[] = {
+    { 0x1600, 5, sv660n_csp_output_pdo_entries },
+    { 0x1a00, 5, sv660n_csp_input_pdo_entries },
+};
+
+static ec_sync_info_t sv660n_csp_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &sv660n_csp_pdos[0], EC_WD_DISABLE },
+    { 3, EC_DIR_INPUT, 1, &sv660n_csp_pdos[1], EC_WD_DISABLE },
+};
+
+// Inovance SV660N CSV
+static ec_pdo_entry_info_t sv660n_csv_output_pdo_entries[] = {
+    { 0x6040, 0x00, 16 }, // 0x6040 控制字
+    { 0x60FF, 0x00, 32 }, // 0x60FF 目标速度
+    { 0x6060, 0x00, 8 },  // 0x6060 模式选择 (CSV=9)
+};
+
+static ec_pdo_entry_info_t sv660n_csv_input_pdo_entries[] = {
+    { 0x6041, 0x00, 16 }, // 0x6041 状态字
+    { 0x6064, 0x00, 32 }, // 0x6064 实际位置
+    { 0x606C, 0x00, 32 }, // 0x606C 实际速度
+    { 0x6061, 0x00, 8 },  // 0x6061 运行模式显示
+};
+
+static ec_pdo_info_t sv660n_csv_pdos[] = {
+    { 0x1600, 3, sv660n_csv_output_pdo_entries },
+    { 0x1a00, 4, sv660n_csv_input_pdo_entries },
+};
+
+static ec_sync_info_t sv660n_csv_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &sv660n_csv_pdos[0], EC_WD_DISABLE },
+    { 3, EC_DIR_INPUT, 1, &sv660n_csv_pdos[1], EC_WD_DISABLE },
+};
+
+// Inovance SV660N CST
+static ec_pdo_entry_info_t sv660n_cst_output_pdo_entries[] = {
+    { 0x6040, 0x00, 16 }, // 0x6040 控制字
+    { 0x6071, 0x00, 16 }, // 0x6071 目标转矩
+    { 0x60B2, 0x00, 16 }, // 0x60B2 转矩偏置
+    { 0x6060, 0x00, 8 },  // 0x6060 模式选择 (CST=10)
+    { 0x6072, 0x00, 16 }, // 0x6072 最大允许转矩 (百分比/额定)
+    { 0x607F, 0x00, 32 }, // 0x607F 最大转速 (rpm)
+    { 0x60E0, 0x00, 32 }, // 0x60E0 正向转矩限制
+    { 0x60E1, 0x00, 32 }, // 0x60E1 反向转矩限制
+};
+
+static ec_pdo_entry_info_t sv660n_cst_input_pdo_entries[] = {
+    { 0x6041, 0x00, 16 }, // 0x6041 状态字
+    { 0x6064, 0x00, 32 }, // 0x6064 实际位置
+    { 0x606C, 0x00, 32 }, // 0x606C 实际速度
+    { 0x6077, 0x00, 16 }, // 0x6077 实际转矩
+    { 0x6061, 0x00, 8 },  // 0x6061 运行模式显示
+};
+
+static ec_pdo_info_t sv660n_cst_pdos[] = {
+    { 0x1600, 8, sv660n_cst_output_pdo_entries },
+    { 0x1a00, 5, sv660n_cst_input_pdo_entries },
+};
+
+static ec_sync_info_t sv660n_cst_syncs[] = {
+    { 2, EC_DIR_OUTPUT, 1, &sv660n_cst_pdos[0], EC_WD_DISABLE },
+    { 3, EC_DIR_INPUT, 1, &sv660n_cst_pdos[1], EC_WD_DISABLE },
+};
+
+int ec_master_find_slave_sync_info(uint32_t vendor_id,
+                                   uint32_t product_code,
+                                   uint32_t revision_number,
+                                   uint8_t cia402_mode,
+                                   ec_sync_info_t **syncs,
+                                   uint8_t *sync_count)
+{
+    switch (vendor_id) {
+        case 0x0048504D: // HPMicro
+            switch (product_code) {
+                case 0x00000001:
+                    *syncs = hpm_dio_syncs;
+                    *sync_count = sizeof(hpm_dio_syncs) / sizeof(ec_sync_info_t);
+                    return 0;
+                case 0x00000003:
+                case 0x00000004:
+                    switch (cia402_mode) {
+                        case EC_CIA402_OPERATION_MODE_CSV:
+                            *syncs = hpm_cia402_csv_syncs;
+                            *sync_count = sizeof(hpm_cia402_csv_syncs) / sizeof(ec_sync_info_t);
+                            return 0;
+                        case EC_CIA402_OPERATION_MODE_CSP:
+                            *syncs = hpm_cia402_csp_syncs;
+                            *sync_count = sizeof(hpm_cia402_csp_syncs) / sizeof(ec_sync_info_t);
+                            return 0;
+
+                        default:
+                            break;
+                    }
+                    break;
+
+                default:
+                    break;
+            }
+            break;
+        case 0xEE000002: // Tianjin Sange Elc Co.,Ltd
+            switch (product_code) {
+                case 0x00010204:
+                    *syncs = sg_elc_syncs;
+                    *sync_count = sizeof(sg_elc_syncs) / sizeof(ec_sync_info_t);
+                    return 0;
+
+                default:
+                    break;
+            }
+            break;
+        case 0x00004321: // Leadshine Technology Co., Ltd
+            switch (product_code) {
+                case 0x01100073:
+                    *syncs = em32dx_4e_v30_syncs;
+                    *sync_count = sizeof(em32dx_4e_v30_syncs) / sizeof(ec_sync_info_t);
+                    return 0;
+
+                default:
+                    break;
+            }
+            break;
+        case 0x00100000: // Inovance
+            switch (product_code) {
+                case 0x000C010D:
+                    switch (cia402_mode) {
+                        case EC_CIA402_OPERATION_MODE_CSV:
+                            *syncs = sv660n_csv_syncs;
+                            *sync_count = sizeof(sv660n_csv_syncs) / sizeof(ec_sync_info_t);
+                            return 0;
+                        case EC_CIA402_OPERATION_MODE_CSP:
+                            *syncs = sv660n_csp_syncs;
+                            *sync_count = sizeof(sv660n_csp_syncs) / sizeof(ec_sync_info_t);
+                            return 0;
+                        case EC_CIA402_OPERATION_MODE_CST:
+                            *syncs = sv660n_cst_syncs;
+                            *sync_count = sizeof(sv660n_cst_syncs) / sizeof(ec_sync_info_t);
+                            return 0;
+
+                        default:
+                            break;
+                    }
+                    break;
+
+                default:
+                    break;
+            }
+            break;
+
+        default:
+            break;
+    }
+    return -1;
+}