author | Florian Pose <fp@igh-essen.com> |
Tue, 19 Jan 2010 15:15:57 +0100 | |
changeset 1773 | 5371f3e5f6a1 |
parent 1516 | e3b09f847512 |
child 1804 | 742607c464c4 |
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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#ifndef __MASTER_DEVICE_H__ |
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#define __MASTER_DEVICE_H__ |
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#include <stdexcept> |
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#include <sstream> |
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using namespace std; |
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#include "../include/ecrt.h" |
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#include "../master/ioctl.h" |
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/****************************************************************************/ |
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class MasterDeviceException: |
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public runtime_error |
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{ |
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friend class MasterDevice; |
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protected: |
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/** Constructor with string parameter. */ |
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MasterDeviceException( |
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const string &s /**< Message. */ |
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): runtime_error(s) {} |
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/** Constructor with stringstream parameter. */ |
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MasterDeviceException( |
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const stringstream &s /**< Message. */ |
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): runtime_error(s.str()) {} |
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}; |
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/****************************************************************************/ |
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class MasterDeviceSdoAbortException: |
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public MasterDeviceException |
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{ |
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friend class MasterDevice; |
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public: |
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uint32_t abortCode; |
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protected: |
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/** Constructor with stringstream parameter. */ |
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MasterDeviceSdoAbortException(uint32_t code): |
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MasterDeviceException("SDO transfer aborted.") { |
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abortCode = code; |
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}; |
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}; |
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/****************************************************************************/ |
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class MasterDevice |
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{ |
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public: |
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MasterDevice(); |
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~MasterDevice(); |
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void setIndex(unsigned int); |
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unsigned int getIndex() const; |
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enum Permissions {Read, ReadWrite}; |
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void open(Permissions); |
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void close(); |
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void getMaster(ec_ioctl_master_t *); |
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void getConfig(ec_ioctl_config_t *, unsigned int); |
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void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t, |
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uint16_t); |
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void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int, |
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uint8_t, uint16_t, uint8_t); |
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void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int); |
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void getDomain(ec_ioctl_domain_t *, unsigned int); |
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void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int); |
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void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int, |
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unsigned char *); |
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void getSlave(ec_ioctl_slave_t *, uint16_t); |
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void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t); |
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void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t); |
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void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t, |
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uint8_t, uint8_t); |
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void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t); |
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void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t); |
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void readSii(ec_ioctl_slave_sii_t *); |
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void writeSii(ec_ioctl_slave_sii_t *); |
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void readReg(ec_ioctl_slave_reg_t *); |
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void writeReg(ec_ioctl_slave_reg_t *); |
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void setDebug(unsigned int); |
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void sdoDownload(ec_ioctl_slave_sdo_download_t *); |
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void sdoUpload(ec_ioctl_slave_sdo_upload_t *); |
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void requestState(uint16_t, uint8_t); |
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void readFoe(ec_ioctl_slave_foe_t *); |
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void writeFoe(ec_ioctl_slave_foe_t *); |
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#ifdef EC_EOE |
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void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t); |
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#endif |
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|
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private: |
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unsigned int index; |
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int fd; |
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}; |
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|
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/****************************************************************************/ |
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|
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inline unsigned int MasterDevice::getIndex() const |
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{ |
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return index; |
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} |
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||
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/****************************************************************************/ |
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||
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#endif |