etherlabmaster: tool/MasterDevice.h@11c0b2caa253 (annotated)

1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	3	* $Id$
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	4	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	5	* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	6	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	7	* This file is part of the IgH EtherCAT Master.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	8	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	11	* published by the Free Software Foundation.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	12	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	16	* Public License for more details.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	17	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	18	* You should have received a copy of the GNU General Public License along
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	21	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1335 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
1141 7ffbca63fc72 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	30	#ifndef __MASTER_DEVICE_H__
7ffbca63fc72 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	31	#define __MASTER_DEVICE_H__
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	32
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <stdexcept>
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	34	#include <sstream>
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	using namespace std;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "../include/ecrt.h"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "../master/ioctl.h"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	class MasterDeviceException:
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	public runtime_error
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	{
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	45	friend class MasterDevice;
a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	46
a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	47	protected:
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	48	/** Constructor with string parameter. */
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	49	MasterDeviceException(
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	50	const string &s /*< Message. /
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	51	): runtime_error(s) {}
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	52
1141 7ffbca63fc72 Minor fixes. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	53	/** Constructor with stringstream parameter. */
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	MasterDeviceException(
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	55	const stringstream &s /*< Message. /
a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	56	): runtime_error(s.str()) {}
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	60
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	61	class MasterDeviceSdoAbortException:
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	62	public MasterDeviceException
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	63	{
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	64	friend class MasterDevice;
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	65
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	66	public:
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	67	uint32_t abortCode;
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	68
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	69	protected:
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	70	/** Constructor with stringstream parameter. */
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	71	MasterDeviceSdoAbortException(uint32_t code):
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1200 diff changeset	72	MasterDeviceException("SDO transfer aborted.") {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	73	abortCode = code;
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	74	};
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	75	};
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	76
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	77	/****************************************************************************/
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	78
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	class MasterDevice
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	public:
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	MasterDevice();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	~MasterDevice();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	84
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	void setIndex(unsigned int);
1166 006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	86	unsigned int getIndex() const;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	enum Permissions {Read, ReadWrite};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	void open(Permissions);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	void close();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	91
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	void getMaster(ec_ioctl_master_t *);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	void getConfig(ec_ioctl_config_t *, unsigned int);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	uint16_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	uint8_t, uint16_t, uint8_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	void getDomain(ec_ioctl_domain_t *, unsigned int);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	unsigned char *);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	void getSlave(ec_ioctl_slave_t *, uint16_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	uint8_t, uint8_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	void readSii(ec_ioctl_slave_sii_t *);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	void writeSii(ec_ioctl_slave_sii_t *);
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	112	void readPhy(ec_ioctl_slave_phy_t *);
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	113	void writePhy(ec_ioctl_slave_phy_t *);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	114	void setDebug(unsigned int);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	115	void sdoDownload(ec_ioctl_slave_sdo_download_t *);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	116	void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	117	void requestState(uint16_t, uint8_t);
1335 09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	118	void readFoe(ec_ioctl_slave_foe_t *);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	119	void writeFoe(ec_ioctl_slave_foe_t *);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	private:
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	unsigned int index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	int fd;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	};
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	125
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	127
1166 006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	128	inline unsigned int MasterDevice::getIndex() const
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	129	{
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	130	return index;
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	131	}
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	132
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	133	/****************************************************************************/
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	134
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	#endif

author	Florian Pose <fp@igh-essen.com>
	Tue, 24 Feb 2009 12:51:39 +0000
changeset 1363	11c0b2caa253
parent 1335	09c6fce1ae45
child 1388	3c886ec376f5
permissions	-rw-r--r--