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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 "CommandPdos.h"
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/*****************************************************************************/
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CommandPdos::CommandPdos():
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Command("pdos", "List Sync managers, Pdo assignment and mapping.")
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{
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}
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/*****************************************************************************/
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string CommandPdos::helpString() const
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{
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stringstream str;
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str << getName() << " [OPTIONS]" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "The information is displayed in three layers, which are" << endl
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<< "indented accordingly:" << endl
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<< endl
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<< "1) Sync managers - Contains the sync manager information" << endl
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<< " from the SII: Index, physical start address, default" << endl
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<< " size (value from the SII), control register and enable" << endl
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<< " word. Example:" << endl
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<< endl
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<< " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20,"
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<< "Enable 1" << endl
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<< endl
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<< "2) Assigned Pdos - Pdo direction, hexadecimal index and" << endl
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<< " -if available- the Pdo name. Example:" << endl
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<< endl
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<< " TxPdo 0x1a00 \"Channel1\"" << endl
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<< endl
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<< "3) Mapped Pdo entries - Pdo entry index and subindex (both" << endl
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<< " hexadecimal), the length in bit and -if available- the" << endl
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<< " description. Example:" << endl
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<< endl
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<< " Pdo entry 0x3101:01, 8 bit, \"Status\"" << endl
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<< endl
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<< "Note, that the displayed Pdo assignment and Pdo mapping" << endl
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<< "information can either originate from the SII or from the" << endl
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<< "CoE communication area." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --slave -s <index> Positive numerical ring position," << endl
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<< " or 'all' forall slaves (default)." << endl
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<< endl
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<< numericInfo();
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return str.str();
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}
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/****************************************************************************/
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void CommandPdos::execute(MasterDevice &m, const StringVector &args)
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{
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m.open(MasterDevice::Read);
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if (slavePosition == -1) {
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unsigned int numSlaves = m.slaveCount(), i;
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for (i = 0; i < numSlaves; i++) {
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listSlavePdos(m, i, true);
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}
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} else {
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listSlavePdos(m, slavePosition, false);
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}
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}
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/****************************************************************************/
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void CommandPdos::listSlavePdos(
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MasterDevice &m,
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uint16_t slavePosition,
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bool withHeader
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)
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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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m.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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m.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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m.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 (getVerbosity() == Quiet)
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continue;
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for (k = 0; k < pdo.entry_count; k++) {
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m.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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/*****************************************************************************/
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