1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#ifndef __MASTER_DEVICE_H__

    31

#define __MASTER_DEVICE_H__

    32

    33

#include <stdexcept>

    34

#include <sstream>

    35

using namespace std;

    36

    37

#include "ecrt.h"

    38

#include "ioctl.h"

    39

    40

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

    41

    42

class MasterDeviceException:

    43

    public runtime_error

    44

{

    45

    friend class MasterDevice;

    46

    47

    protected:

    48

        /** Constructor with string parameter. */

    49

        MasterDeviceException(

    50

                const string &s /**< Message. */

    51

                ): runtime_error(s) {}

    52

    53

        /** Constructor with stringstream parameter. */

    54

        MasterDeviceException(

    55

                const stringstream &s /**< Message. */

    56

                ): runtime_error(s.str()) {}

    57

};

    58

    59

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

    60

    61

class MasterDeviceSdoAbortException:

    62

    public MasterDeviceException

    63

{

    64

    friend class MasterDevice;

    65

    66

    public:

    67

        uint32_t abortCode;

    68

    69

    protected:

    70

        /** Constructor with abort code parameter. */

    71

        MasterDeviceSdoAbortException(uint32_t code):

    72

            MasterDeviceException("SDO transfer aborted.") {

    73

                abortCode = code;

    74

            };

    75

};

    76

    77

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

    78

    79

class MasterDeviceSoeException:

    80

    public MasterDeviceException

    81

{

    82

    friend class MasterDevice;

    83

    84

    public:

    85

        uint16_t errorCode;

    86

    87

    protected:

    88

        /** Constructor with error code parameter. */

    89

        MasterDeviceSoeException(uint16_t code):

    90

            MasterDeviceException("SoE transfer aborted.") {

    91

                errorCode = code;

    92

            };

    93

};

    94

    95

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

    96

    97

class MasterDevice

    98

{

    99

    public:

   100

        MasterDevice(unsigned int = 0U);

   101

        ~MasterDevice();

   102

   103

        void setIndex(unsigned int);

   104

        unsigned int getIndex() const;

   105

   106

        enum Permissions {Read, ReadWrite};

   107

        void open(Permissions);

   108

        void close();

   109

   110

        void getModule(ec_ioctl_module_t *);

   111

   112

        void getMaster(ec_ioctl_master_t *);

   113

        void getConfig(ec_ioctl_config_t *, unsigned int);

   114

        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

   115

                uint16_t);

   116

        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

   117

                uint8_t, uint16_t, uint8_t);

   118

        void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);

   119

        void getConfigIdn(ec_ioctl_config_idn_t *, unsigned int, unsigned int);

   120

        void getDomain(ec_ioctl_domain_t *, unsigned int);

   121

        void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);

   122

        void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

   123

                unsigned char *);

   124

        void getSlave(ec_ioctl_slave_t *, uint16_t);

   125

        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);

   126

        void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);

   127

        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

   128

                uint8_t, uint8_t);

   129

        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);

   130

        void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);

   131

        void readSii(ec_ioctl_slave_sii_t *);

   132

        void writeSii(ec_ioctl_slave_sii_t *);

   133

        void readReg(ec_ioctl_slave_reg_t *);

   134

        void writeReg(ec_ioctl_slave_reg_t *);

   135

        void setDebug(unsigned int);

   136

        void rescan();

   137

        void sdoDownload(ec_ioctl_slave_sdo_download_t *);

   138

        void sdoUpload(ec_ioctl_slave_sdo_upload_t *);

   139

        void requestState(uint16_t, uint8_t);

   140

        void readFoe(ec_ioctl_slave_foe_t *);

   141

        void writeFoe(ec_ioctl_slave_foe_t *);

   142

#ifdef EC_EOE

   143

        void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);

   144

#endif

   145

        void readSoe(ec_ioctl_slave_soe_read_t *);

   146

        void writeSoe(ec_ioctl_slave_soe_write_t *);

   147

   148

        unsigned int getMasterCount() const {return masterCount;}

   149

   150

    private:

   151

        unsigned int index;

   152

        unsigned int masterCount;

   153

        int fd;

   154

};

   155

   156

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

   157

   158

inline unsigned int MasterDevice::getIndex() const

   159

{

   160

    return index;

   161

}

   162

   163

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

   164

   165

#endif