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/*****************************************************************************

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 *

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 * $Id$

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 *

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 ****************************************************************************/

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#include <iostream>

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#include <iomanip>

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using namespace std;

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#include "globals.h"

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/****************************************************************************/

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const char *help_pdos =

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    "[OPTIONS]\n"

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    "\n"

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    "Displays sync managers, assigned Pdos and mapped Pdo entries.\n"

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    "\n"

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    "The information is displayed in three layers, which are indented\n"

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    "accordingly:\n"

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    "\n"

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    "1) Sync managers - Contains the sync manager information from the\n"

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    "   SII: Index, physical start address, default size (raw value from\n"

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    "   the SII), control register and enable word. Example:\n"

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    "\n"

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    "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, Enable 1\n"

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    "\n"

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    "2) Assigned Pdos - Pdo direction, hexadecimal index and -if available-\n"

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    "   the Pdo name. Example:\n"

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    "\n"

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    "   TxPdo 0x1a00 \"Channel1\"\n"

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    "\n"

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    "3) Mapped Pdo entries - Pdo entry index and subindex (both\n"

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    "   hexadecimal), the length in bit and -if available- the\n"

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    "   description. Example:\n"

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    "\n"

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    "   Pdo entry 0x3101:01, 8 bit, \"Status\"\n"

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    "\n"

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    "Note, that the displayed Pdo assignment and Pdo mapping information\n"

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    "can either originate from the SII or from the CoE communication area.\n"

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    "\n"

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    "Command-specific options:\n"

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    "  --slave -s <index>  Positive numerical ring position, or 'all' for\n"

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    "                      all slaves (default).\n"

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    "\n"

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    "Numerical values can be specified either with decimal (no prefix),\n"

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    "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";

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/****************************************************************************/

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void listSlavePdos(uint16_t, bool);

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/****************************************************************************/

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void command_pdos(void)

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{

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    masterDev.open(MasterDevice::Read);

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    if (slavePosition == -1) {

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        unsigned int numSlaves = masterDev.slaveCount(), i;

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        for (i = 0; i < numSlaves; i++) {

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            listSlavePdos(i, true);

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        }

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    } else {

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        listSlavePdos(slavePosition, false);

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    }

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}

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/****************************************************************************/

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void listSlavePdos(uint16_t slavePosition, bool withHeader)

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{

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    ec_ioctl_slave_t slave;

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    ec_ioctl_slave_sync_t sync;

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    ec_ioctl_slave_sync_pdo_t pdo;

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    ec_ioctl_slave_sync_pdo_entry_t entry;

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    unsigned int i, j, k;

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    masterDev.getSlave(&slave, slavePosition);

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    if (withHeader)

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        cout << "=== Slave " << slavePosition << " ===" << endl;

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    for (i = 0; i < slave.sync_count; i++) {

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        masterDev.getSync(&sync, slavePosition, i);

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        cout << "SM" << i << ":"

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            << " PhysAddr 0x"

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            << hex << setfill('0')

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            << setw(4) << sync.physical_start_address

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            << ", DefaultSize "

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            << dec << setfill(' ') << setw(4) << sync.default_size

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            << ", ControlRegister 0x"

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            << hex << setfill('0') << setw(2)

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            << (unsigned int) sync.control_register

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            << ", Enable " << dec << (unsigned int) sync.enable

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            << endl;

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        for (j = 0; j < sync.pdo_count; j++) {

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            masterDev.getPdo(&pdo, slavePosition, i, j);

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            cout << "  " << (sync.control_register & 0x04 ? "R" : "T")

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                << "xPdo 0x"

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                << hex << setfill('0')

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                << setw(4) << pdo.index

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                << " \"" << pdo.name << "\"" << endl;

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            if (verbosity == Quiet)

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                continue;

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            for (k = 0; k < pdo.entry_count; k++) {

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                masterDev.getPdoEntry(&entry, slavePosition, i, j, k);

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                cout << "    Pdo entry 0x"

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                    << hex << setfill('0')

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                    << setw(4) << entry.index

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                    << ":" << setw(2) << (unsigned int) entry.subindex

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                    << ", " << dec << (unsigned int) entry.bit_length

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                    << " bit, \"" << entry.name << "\"" << endl;

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            }

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        }

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    }

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}

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/*****************************************************************************/