etherlabmaster: tool/MasterDevice.cpp@4d5b739edcb5 (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	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <sys/stat.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	#include <fcntl.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <errno.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <sys/ioctl.h>
1222 7348d6abb6cb Applied patch by Karsten Schwinne, adding a few header files necessary Florian Pose <fp@igh-essen.com> parents: 1200 diff changeset	11	#include <string.h>
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	12
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include <sstream>
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	14	#include <iomanip>
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	using namespace std;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	16
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	#include "MasterDevice.h"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	18
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	20
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	MasterDevice::MasterDevice()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	index = 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	fd = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	26
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	MasterDevice::~MasterDevice()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	close();
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	void MasterDevice::setIndex(unsigned int i)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	index = i;
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	void MasterDevice::open(Permissions perm)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	stringstream deviceName;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	47	if (fd == -1) { // not already open
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	48	deviceName << "/dev/EtherCAT" << index;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	49
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	50	if ((fd = ::open(deviceName.str().c_str(),
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	51	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	52	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	53	err << "Failed to open master device " << deviceName.str() << ": "
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	54	<< strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	55	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	56	}
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	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	61
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void MasterDevice::close()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	{
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	64	if (fd != -1) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	65	::close(fd);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	66	fd = -1;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	67	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	68	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	69
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	71
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void MasterDevice::getMaster(ec_ioctl_master_t *data)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	err << "Failed to get master information: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	77	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	}
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	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)
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	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	86
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	err << "Failed to get slave configuration: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	90	throw MasterDeviceException(err);
1122 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	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	93
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	void MasterDevice::getConfigPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	ec_ioctl_config_pdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	uint16_t pdo_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	106
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	err << "Failed to get slave config Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	110	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	113
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	void MasterDevice::getConfigPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	ec_ioctl_config_pdo_entry_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	uint16_t pdo_pos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	uint8_t entry_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	data->entry_pos = entry_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	128
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	err << "Failed to get slave config Pdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	132	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	135
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	137
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	void MasterDevice::getConfigSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	ec_ioctl_config_sdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	unsigned int sdo_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	data->sdo_pos = sdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	146
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	err << "Failed to get slave config Sdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	150	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	data->index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	159
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	err << "Failed to get domain: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	err << "Domain " << index << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	167	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	170
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	172
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	173	void MasterDevice::getData(ec_ioctl_domain_data_t *data,
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	174	unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	data->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	data->data_size = dataSize;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	data->target = mem;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	err << "Failed to get domain data: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	183	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	slave->position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	192
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	err << "Failed to get slave: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	err << "Slave " << slaveIndex << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	200	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	205
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	void MasterDevice::getFmmu(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	ec_ioctl_domain_fmmu_t *fmmu,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	unsigned int domainIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	unsigned int fmmuIndex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	fmmu->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	fmmu->fmmu_index = fmmuIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	214
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	217	err << "Failed to get domain FMMU: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	218	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	void MasterDevice::getSync(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	ec_ioctl_slave_sync_t *sync,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	uint8_t syncIndex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	sync->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	sync->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	232
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	235	err << "Failed to get sync manager: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	236	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	239
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	241
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	void MasterDevice::getPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	ec_ioctl_slave_sync_pdo_t *pdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	uint8_t pdoPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	pdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	pdo->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	pdo->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	252
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	255	err << "Failed to get Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	256	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	259
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	void MasterDevice::getPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	ec_ioctl_slave_sync_pdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	uint8_t pdoPos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	uint8_t entryPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	entry->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	entry->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	entry->entry_pos = entryPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	274
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	277	err << "Failed to get Pdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	278	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	281
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	283
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	void MasterDevice::getSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	ec_ioctl_slave_sdo_t *sdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	uint16_t sdoPosition
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	sdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	sdo->sdo_position = sdoPosition;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	292
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	295	err << "Failed to get Sdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	296	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	301
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	void MasterDevice::getSdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	ec_ioctl_slave_sdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	int sdoSpec,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	uint8_t entrySubindex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	entry->sdo_spec = sdoSpec;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	entry->sdo_entry_subindex = entrySubindex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	315	err << "Failed to get Sdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	316	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	319
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	void MasterDevice::readSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	err << "Failed to read SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	329	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	332
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	334
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	void MasterDevice::writeSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	err << "Failed to write SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	342	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	345
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	347
1200 ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	348	void MasterDevice::readPhy(
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	349	ec_ioctl_slave_phy_t *data
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	350	)
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	351	{
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	352	if (ioctl(fd, EC_IOCTL_SLAVE_PHY_READ, data) < 0) {
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	353	stringstream err;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	354	err << "Failed to read physical memory: " << strerror(errno);
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	355	throw MasterDeviceException(err);
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	356	}
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	357	}
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	358
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	359	/****************************************************************************/
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	360
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	361	void MasterDevice::writePhy(
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	362	ec_ioctl_slave_phy_t *data
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	363	)
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	364	{
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	365	if (ioctl(fd, EC_IOCTL_SLAVE_PHY_WRITE, data) < 0) {
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	366	stringstream err;
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	367	err << "Failed to write physical memory: " << strerror(errno);
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	368	throw MasterDeviceException(err);
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	369	}
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	370	}
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	371
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	372	/****************************************************************************/
ce1a65f06efc Added phy commands. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	373
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	374	void MasterDevice::setDebug(unsigned int debugLevel)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	375	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	376	if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	377	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	378	err << "Failed to set debug level: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	379	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	380	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	381	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	382
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	383	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	384
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	385	void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	386	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	387	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	388	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	389	if (errno == EIO && data->abort_code) {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	390	throw MasterDeviceSdoAbortException(data->abort_code);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	391	} else {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	392	err << "Failed to download Sdo: " << strerror(errno);
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	393	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	394	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	395	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	396	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	397
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	398	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	399
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	400	void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	401	{
1135 807ec6498502 Fixed sdoUpload(). Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	402	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) {
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	403	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	404	if (errno == EIO && data->abort_code) {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	405	throw MasterDeviceSdoAbortException(data->abort_code);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	406	} else {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	407	err << "Failed to upload Sdo: " << strerror(errno);
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	408	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	409	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	410	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	411	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	412
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	413	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	414
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	void MasterDevice::requestState(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	uint16_t slavePosition,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	uint8_t state
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	ec_ioctl_slave_state_t data;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	421
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	data.slave_position = slavePosition;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	423	data.al_state = state;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	424
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	425	if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	err << "Failed to request slave state: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	err << "Slave " << slavePosition << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	432	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	433	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	435
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 30 Sep 2008 07:34:55 +0000
changeset 1225	4d5b739edcb5
parent 1222	7348d6abb6cb
child 1238	02711963a059
permissions	-rw-r--r--