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 "../include/ecrt.h"

    38

#include "../master/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 stringstream parameter. */

    71

        MasterDeviceSdoAbortException(uint32_t code):

    72

            MasterDeviceException("SDO transfer aborted.") {

    73

                abortCode = code;

    74

            };

    75

};

    76

    77

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

    78

    79

class MasterDevice

    80

{

    81

    public:

    82

        MasterDevice();

    83

        ~MasterDevice();

    84

    85

        void setIndex(unsigned int);

    86

		unsigned int getIndex() const;

    87

    88

        enum Permissions {Read, ReadWrite};

    89

        void open(Permissions);

    90

        void close();

    91

    92

        void getMaster(ec_ioctl_master_t *);

    93

        void getConfig(ec_ioctl_config_t *, unsigned int);

    94

        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

    95

                uint16_t);

    96

        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

    97

                uint8_t, uint16_t, uint8_t);

    98

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

    99

        void getDomain(ec_ioctl_domain_t *, unsigned int);

   100

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

   101

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

   102

                unsigned char *);

   103

        void getSlave(ec_ioctl_slave_t *, uint16_t);

   104

        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);

   105

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

   106

        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

   107

                uint8_t, uint8_t);

   108

        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);

   109

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

   110

        void readSii(ec_ioctl_slave_sii_t *);

   111

        void writeSii(ec_ioctl_slave_sii_t *);

   112

        void readReg(ec_ioctl_slave_reg_t *);

   113

        void writeReg(ec_ioctl_slave_reg_t *);

   114

		void setDebug(unsigned int);

   115

		void sdoDownload(ec_ioctl_slave_sdo_download_t *);

   116

		void sdoUpload(ec_ioctl_slave_sdo_upload_t *);

   117

		void requestState(uint16_t, uint8_t);

   118

		void readFoe(ec_ioctl_slave_foe_t *);

   119

        void writeFoe(ec_ioctl_slave_foe_t *);

   120

   121

    private:

   122

        unsigned int index;

   123

        int fd;

   124

};

   125

   126

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

   127

   128

inline unsigned int MasterDevice::getIndex() const

   129

{

   130

	return index;

   131

}

   132

   133

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

   134

   135

#endif