author | Martin Troxler <martin.troxler@komaxgroup.com> |
Mon, 30 Nov 2009 12:26:56 +0100 | |
changeset 1585 | 1f640e321ee4 |
parent 1373 | e651000f1ff1 |
child 1804 | 742607c464c4 |
permissions | -rw-r--r-- |
1142 | 1 |
/***************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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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, control register and enable 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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<< " the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl |
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<< " are seen from the slave's point of view. 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 the description, if" << endl |
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<< " available. 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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<< " --alias -a <alias>" << endl |
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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<< " the 'slaves' command." << 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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SlaveList slaves; |
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SlaveList::const_iterator si; |
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bool showHeader; |
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if (args.size()) { |
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stringstream err; |
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err << "'" << getName() << "' takes no arguments!"; |
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throwInvalidUsageException(err); |
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} |
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m.open(MasterDevice::Read); |
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slaves = selectedSlaves(m); |
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showHeader = slaves.size() > 1; |
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for (si = slaves.begin(); si != slaves.end(); si++) { |
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listSlavePdos(m, *si, showHeader); |
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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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const ec_ioctl_slave_t &slave, |
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bool showHeader |
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) |
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{ |
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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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if (showHeader) |
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cout << "=== Slave " << slave.position << " ===" << endl; |
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for (i = 0; i < slave.sync_count; i++) { |
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m.getSync(&sync, slave.position, 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, slave.position, 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, slave.position, 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 << setfill(' ') |
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<< setw(2) << (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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/*****************************************************************************/ |