author | Florian Pose <fp@igh-essen.com> |
Tue, 16 Feb 2010 18:19:17 +0100 | |
changeset 1814 | 23fcca9ef1fb |
parent 1363 | 11c0b2caa253 |
child 1835 | 20748e9d2238 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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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 "SdoCommand.h" |
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/*****************************************************************************/ |
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SdoCommand::SdoCommand(const string &name, const string &briefDesc): |
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Command(name, briefDesc) |
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{ |
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} |
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/****************************************************************************/ |
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const SdoCommand::DataType *SdoCommand::findDataType(const string &str) |
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{ |
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const DataType *d; |
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for (d = dataTypes; d->name; d++) |
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if (str == d->name) |
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return d; |
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return NULL; |
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} |
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/****************************************************************************/ |
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const SdoCommand::DataType *SdoCommand::findDataType(uint16_t code) |
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{ |
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const DataType *d; |
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for (d = dataTypes; d->name; d++) |
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if (code == d->coeCode) |
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return d; |
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return NULL; |
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} |
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/****************************************************************************/ |
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const char *SdoCommand::abortText(uint32_t abortCode) |
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{ |
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const AbortMessage *abortMsg; |
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for (abortMsg = abortMessages; abortMsg->code; abortMsg++) { |
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if (abortMsg->code == abortCode) { |
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return abortMsg->message; |
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} |
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} |
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return "???"; |
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} |
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/****************************************************************************/ |
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const SdoCommand::DataType SdoCommand::dataTypes[] = { |
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{"int8", 0x0002, 1}, |
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{"int16", 0x0003, 2}, |
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{"int32", 0x0004, 4}, |
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{"uint8", 0x0005, 1}, |
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{"uint16", 0x0006, 2}, |
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{"uint32", 0x0007, 4}, |
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{"string", 0x0009, 0}, |
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{"octet_string", 0x000a, 0}, |
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{"raw", 0xffff, 0}, |
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{} |
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}; |
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/*****************************************************************************/ |
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/** SDO abort messages. |
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* |
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* The "Abort SDO transfer request" supplies an abort code, which can be |
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* translated to clear text. This table does the mapping of the codes and |
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* messages. |
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*/ |
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const SdoCommand::AbortMessage SdoCommand::abortMessages[] = { |
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{0x05030000, "Toggle bit not changed"}, |
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{0x05040000, "SDO protocol timeout"}, |
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Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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changeset
|
106 |
{0x05040001, "Client/Server command specifier not valid or unknown"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
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|
107 |
{0x05040005, "Out of memory"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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|
108 |
{0x06010000, "Unsupported access to an object"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
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|
109 |
{0x06010001, "Attempt to read a write-only object"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
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changeset
|
110 |
{0x06010002, "Attempt to write a read-only object"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
111 |
{0x06020000, "This object does not exist in the object directory"}, |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
112 |
{0x06040041, "The object cannot be mapped into the PDO"}, |
1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
113 |
{0x06040042, "The number and length of the objects to be mapped would" |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1184
diff
changeset
|
114 |
" exceed the PDO length"}, |
1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
115 |
{0x06040043, "General parameter incompatibility reason"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
116 |
{0x06040047, "Gerneral internal incompatibility in device"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
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changeset
|
117 |
{0x06060000, "Access failure due to a hardware error"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
118 |
{0x06070010, "Data type does not match, length of service parameter does" |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
119 |
" not match"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
120 |
{0x06070012, "Data type does not match, length of service parameter too" |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
121 |
" high"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
122 |
{0x06070013, "Data type does not match, length of service parameter too" |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
123 |
" low"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
124 |
{0x06090011, "Subindex does not exist"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
125 |
{0x06090030, "Value range of parameter exceeded"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
126 |
{0x06090031, "Value of parameter written too high"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
127 |
{0x06090032, "Value of parameter written too low"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
128 |
{0x06090036, "Maximum value is less than minimum value"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
129 |
{0x08000000, "General error"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
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changeset
|
130 |
{0x08000020, "Data cannot be transferred or stored to the application"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
131 |
{0x08000021, "Data cannot be transferred or stored to the application" |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
132 |
" because of local control"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
133 |
{0x08000022, "Data cannot be transferred or stored to the application" |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
" because of the present device state"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
{0x08000023, "Object dictionary dynamic generation fails or no object" |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
" dictionary is present"}, |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
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|
137 |
{} |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
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|
138 |
}; |
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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parents:
diff
changeset
|
139 |
|
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
140 |
/****************************************************************************/ |