309aaba342
- 8B PDO config: ULINT-sized payload, no 0x1A01 diag PDO on SM3 (device rejected SM3=8 with diag assigned: 'size not allowed, min/max 0xa') - twin_layout_blob_sized(): single 64-bit mapping entry for 8B payloads - Ticker: per-byte XOR 0x5A transform in 8B mode so TwinCAT can verify every byte individually (1KB path unchanged, const-guarded) - TwinCAT automation scripts: deploy with RPC retry, LinkVariables-based whole-array relink (element links only carry 1 byte), ADS watch, diag - Docs: 8B design, verification methodology, test report
41 lines
1.6 KiB
PowerShell
41 lines
1.6 KiB
PowerShell
#Requires -RunAsAdministrator
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#Requires -Version 5.1
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$ErrorActionPreference = 'Continue'
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$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
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Add-Type -Path $adsDll -ErrorAction Stop
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$c = New-Object TwinCAT.Ads.TcAdsClient
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$c.Connect('169.254.176.217.1.1', 851)
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function Read-Sym($name, $type) {
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try {
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$h = $c.CreateVariableHandle($name)
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$v = $c.ReadAny($h, $type)
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$c.DeleteVariableHandle($h)
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return $v
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} catch { return "ERR: $($_.Exception.Message)" }
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}
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function Read-Bytes($name) {
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try {
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$h = $c.CreateVariableHandle($name)
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$arr = $c.ReadAny($h, [byte[]], @(8))
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$c.DeleteVariableHandle($h)
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return $arr
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} catch { return $null }
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}
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for ($i = 1; $i -le 8; $i++) {
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$nc = Read-Sym 'GVL_Sync.nCycles' ([uint32])
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$bs = Read-Sym 'GVL_Sync.bSync' ([bool])
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$lag = Read-Sym 'GVL_Sync.nMatchLag' ([int])
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$nmis = Read-Sym 'GVL_Sync.nMismatch' ([int])
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$out = Read-Bytes 'GVL_Sync.aOut1'
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$in = Read-Bytes 'GVL_Sync.aIn1'
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$outH = if ($out) { [BitConverter]::ToString($out) } else { 'ERR' }
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$inH = if ($in) { [BitConverter]::ToString($in) } else { 'ERR' }
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# per-byte verify against expected transform for current cycle (lag unknown here)
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$xorH = if ($in) { [BitConverter]::ToString([byte[]]($in | ForEach-Object { $_ -bxor 0x5A })) } else { 'ERR' }
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Write-Host ("[{0}] nCyc={1} bSync={2} lag={3} mism={4}" -f $i, $nc, $bs, $lag, $nmis)
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Write-Host (" aOut1(sent) = {0}" -f $outH)
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Write-Host (" aIn1(recv) = {0} aIn1^5A = {1}" -f $inH, $xorH)
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Start-Sleep -Seconds 3
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}
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$c.Dispose()
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