tools/Master.cpp
author Florian Pose <fp@igh-essen.com>
Wed, 18 Jun 2008 13:33:50 +0000
changeset 1029 61ffe5f22306
parent 1001 a8eab75aa8e3
child 1030 d7970e934dba
permissions -rw-r--r--
Renamed master 'mode' to 'phase'.
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/*****************************************************************************
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 *
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 * $Id$
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 *
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 ****************************************************************************/
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <iostream>
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#include <iomanip>
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#include <sstream>
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#include <fstream>
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#include <cctype> // toupper()
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#include <list>
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using namespace std;
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#include "Master.h"
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#define swap16(x) \
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        ((uint16_t)( \
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        (((uint16_t)(x) & 0x00ffU) << 8) | \
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        (((uint16_t)(x) & 0xff00U) >> 8) ))
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#define swap32(x) \
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        ((uint32_t)( \
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        (((uint32_t)(x) & 0x000000ffUL) << 24) | \
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        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \
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        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \
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        (((uint32_t)(x) & 0xff000000UL) >> 24) ))
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#if __BYTE_ORDER == __LITTLE_ENDIAN
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#define le16tocpu(x) x
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#define le32tocpu(x) x
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#define cputole16(x) x
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#define cputole32(x) x
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#elif __BYTE_ORDER == __BIG_ENDIAN
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#define le16tocpu(x) swap16(x)
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#define le32tocpu(x) swap32(x)
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#define cputole16(x) swap16(x)
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#define cputole32(x) swap32(x)
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#endif
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/****************************************************************************/
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struct CoEDataType {
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    const char *name;
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    uint16_t coeCode;
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    unsigned int byteSize;
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};
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static const CoEDataType 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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    {"raw",    0xffff, 0},
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    {}
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};
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/****************************************************************************/
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const CoEDataType *findDataType(const string &str)
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{
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    const CoEDataType *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 CoEDataType *findDataType(uint16_t code)
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{
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    const CoEDataType *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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Master::Master()
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{
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    index = 0;
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    fd = -1;
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}
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/****************************************************************************/
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Master::~Master()
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{
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    close();
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}
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/****************************************************************************/
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void Master::setIndex(unsigned int i)
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{
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    index = i;
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}
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/*****************************************************************************/
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/**
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 * Writes the Secondary slave address (alias) to the slave's SII.
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 */
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void Master::writeAlias(
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        int slavePosition,
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        bool force,
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        const vector<string> &commandArgs
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        )
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{
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    ec_ioctl_sii_t data;
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    ec_ioctl_slave_t slave;
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    unsigned int i;
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    uint16_t alias;
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    stringstream err, strAlias;
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    int number;
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    if (commandArgs.size() != 1) {
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        stringstream err;
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        err << "'alias' takes exactly one argument!";
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        throw MasterException(err.str());
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   142
    }
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   143
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    strAlias << commandArgs[0];
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   145
    strAlias >> hex >> number;
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   146
    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
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   147
        err << "Invalid alias '" << commandArgs[0] << "'!";
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   148
        throw MasterException(err.str());
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   149
    }
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    alias = number;
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   151
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   152
    if (slavePosition == -1) {
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   153
        unsigned int numSlaves, i;
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   154
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
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   155
        if (!force) {
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   156
            err << "This will write the alias addresses of all slaves to 0x"
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   157
                << hex << setfill('0') << setw(4) << alias << "! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
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   158
                << "Please specify --force to proceed.";
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   159
            throw MasterException(err.str());
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   160
        }
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   161
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
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   162
        open(ReadWrite);
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   163
        numSlaves = slaveCount();
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   164
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
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   165
        for (i = 0; i < numSlaves; i++) {
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   166
            writeSlaveAlias(i, alias);
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   167
        }
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   168
    } else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
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   169
        open(ReadWrite);
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   170
        writeSlaveAlias(slavePosition, alias);
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   171
    }
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   172
}
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   173
990
4f223f3df05a Bus configuration via 'ethercat config'.
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   174
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
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   175
4f223f3df05a Bus configuration via 'ethercat config'.
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   176
/**
4f223f3df05a Bus configuration via 'ethercat config'.
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   177
 * Lists the bus configuration.
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   178
 */
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   179
void Master::showConfig()
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   180
{
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   181
    ec_ioctl_master_t master;
4f223f3df05a Bus configuration via 'ethercat config'.
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   182
    unsigned int i, j, k, l;
4f223f3df05a Bus configuration via 'ethercat config'.
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   183
    ec_ioctl_config_t config;
4f223f3df05a Bus configuration via 'ethercat config'.
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   184
    ec_ioctl_config_pdo_t pdo;
4f223f3df05a Bus configuration via 'ethercat config'.
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   185
    ec_ioctl_config_pdo_entry_t entry;
4f223f3df05a Bus configuration via 'ethercat config'.
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   186
    ec_ioctl_config_sdo_t sdo;
4f223f3df05a Bus configuration via 'ethercat config'.
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   187
4f223f3df05a Bus configuration via 'ethercat config'.
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   188
    open(Read);
4f223f3df05a Bus configuration via 'ethercat config'.
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   189
    getMaster(&master);
4f223f3df05a Bus configuration via 'ethercat config'.
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   190
4f223f3df05a Bus configuration via 'ethercat config'.
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   191
    for (i = 0; i < master.config_count; i++) {
4f223f3df05a Bus configuration via 'ethercat config'.
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   192
        getConfig(&config, i);
4f223f3df05a Bus configuration via 'ethercat config'.
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   193
4f223f3df05a Bus configuration via 'ethercat config'.
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   194
        cout << "Alias: 0x"
4f223f3df05a Bus configuration via 'ethercat config'.
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   195
            << hex << setfill('0') << setw(4) << config.alias << endl
4f223f3df05a Bus configuration via 'ethercat config'.
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   196
            << "Position: " << dec << config.position << endl
4f223f3df05a Bus configuration via 'ethercat config'.
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   197
            << "Vendor Id: 0x"
4f223f3df05a Bus configuration via 'ethercat config'.
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   198
            << hex << setw(8) << config.vendor_id << endl
4f223f3df05a Bus configuration via 'ethercat config'.
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   199
            << "Product code: 0x"
4f223f3df05a Bus configuration via 'ethercat config'.
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   200
            << hex << setw(8) << config.product_code << endl
4f223f3df05a Bus configuration via 'ethercat config'.
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   201
            << "Attached: " << (config.attached ? "yes" : "no") << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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   202
4f223f3df05a Bus configuration via 'ethercat config'.
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   203
        for (j = 0; j < 2; j++) {
4f223f3df05a Bus configuration via 'ethercat config'.
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   204
            if (config.pdo_count[j]) {
4f223f3df05a Bus configuration via 'ethercat config'.
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   205
                cout << (j ? "Input" : "Output")
4f223f3df05a Bus configuration via 'ethercat config'.
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   206
                    << " Pdo assignment / mapping " << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   207
                for (k = 0; k < config.pdo_count[j]; k++) {
4f223f3df05a Bus configuration via 'ethercat config'.
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   208
                    getConfigPdo(&pdo, i, j, k);
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   209
4f223f3df05a Bus configuration via 'ethercat config'.
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   210
                    cout << "  Pdo 0x"
4f223f3df05a Bus configuration via 'ethercat config'.
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   211
                        << hex << setfill('0') << setw(4) << pdo.index
4f223f3df05a Bus configuration via 'ethercat config'.
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   212
                        << " \"" << pdo.name << "\"" << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   213
4f223f3df05a Bus configuration via 'ethercat config'.
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   214
                    for (l = 0; l < pdo.entry_count; l++) {
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   215
                        getConfigPdoEntry(&entry, i, j, k, l);
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   216
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   217
                        cout << "    Pdo entry 0x"
4f223f3df05a Bus configuration via 'ethercat config'.
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   218
                            << hex << setfill('0') << setw(4) << entry.index
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   219
                            << ":" << setw(2) << (unsigned int) entry.subindex
4f223f3df05a Bus configuration via 'ethercat config'.
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   220
                            << ", " << dec << (unsigned int) entry.bit_length
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   221
                            << " bit, \"" << entry.name << "\"" << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   222
                    }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   223
                }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   224
            }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   225
        }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   226
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   227
        if (config.sdo_count) {
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   228
            cout << "Sdo configuration:" << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   229
            for (j = 0; j < config.sdo_count; j++) {
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   230
                getConfigSdo(&sdo, i, j);
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   231
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   232
                cout << "  0x"
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   233
                    << hex << setfill('0') << setw(4) << sdo.index
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   234
                    << ":" << setw(2) << (unsigned int) sdo.subindex
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   235
                    << ", " << sdo.size << " byte: " << hex;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   236
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   237
                switch (sdo.size) {
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   238
                    case 1:
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   239
                        cout << "0x" << setw(2)
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   240
                            << (unsigned int) *(uint8_t *) &sdo.data;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   241
                        break;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   242
                    case 2:
4f223f3df05a Bus configuration via 'ethercat config'.
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parents: 989
diff changeset
   243
                        cout << "0x" << setw(4)
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   244
                            << le16tocpu(*(uint16_t *) &sdo.data);
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   245
                        break;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   246
                    case 4:
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   247
                        cout << "0x" << setw(8)
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   248
                            << le32tocpu(*(uint32_t *) &sdo.data);
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   249
                        break;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   250
                    default:
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   251
                        cout << "???";
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   252
                }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   253
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   254
                cout << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   255
            }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   256
        }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   257
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   258
        cout << endl;
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   259
    }
4f223f3df05a Bus configuration via 'ethercat config'.
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diff changeset
   260
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
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diff changeset
   261
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
949
e424c0074c67 Implemented 'data' command.
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diff changeset
   264
void Master::outputData(int domainIndex)
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   265
{
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   266
    open(Read);
ad59641a68c8 ioctl() permissions.
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parents: 970
diff changeset
   267
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
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diff changeset
   268
    if (domainIndex == -1) {
1001
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
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parents: 990
diff changeset
   269
        unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
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diff changeset
   270
        ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
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diff changeset
   271
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
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   272
        getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   273
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   274
        for (i = 0; i < master.domain_count; i++) {
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   275
            outputDomainData(i);
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   276
        }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   277
    } else {
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   278
        outputDomainData(domainIndex);
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   279
    }
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   280
}
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   281
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
   282
/****************************************************************************/
e424c0074c67 Implemented 'data' command.
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parents: 948
diff changeset
   283
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   284
void Master::setDebug(const vector<string> &commandArgs)
d9b9bc794d10 Implemented 'ethercat debug' command.
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parents: 951
diff changeset
   285
{
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   286
    stringstream str;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   287
    int debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command.
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parents: 951
diff changeset
   288
    
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   289
    if (commandArgs.size() != 1) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   290
        stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   291
        err << "'debug' takes exactly one argument!";
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   292
        throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   293
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   294
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   295
    str << commandArgs[0];
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   296
    str >> debugLevel;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   297
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   298
    if (str.fail()) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   299
        stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   300
        err << "Invalid debug level '" << commandArgs[0] << "'!";
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   301
        throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   302
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   303
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   304
    open(ReadWrite);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   305
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   306
    if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   307
        stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   308
        err << "Failed to set debug level: " << strerror(errno);
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   309
        throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   310
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   311
}
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   312
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   313
/****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 951
diff changeset
   314
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   315
void Master::showDomains(int domainIndex)
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   316
{
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   317
    open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   318
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   319
    if (domainIndex == -1) {
1001
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   320
        unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   321
        ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   322
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   323
        getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   324
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   325
        for (i = 0; i < master.domain_count; i++) {
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   326
            showDomain(i);
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   327
        }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   328
    } else {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   329
        showDomain(domainIndex);
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   330
    }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   331
}
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   332
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   333
/****************************************************************************/
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
   334
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   335
struct SlaveInfo {
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   336
    string pos;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   337
    string alias;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   338
    string relPos;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   339
    string state;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   340
    string flag;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   341
    string name;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   342
};
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   343
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
void Master::listSlaves()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
{
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   346
    unsigned int numSlaves, i;
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   347
    ec_ioctl_slave_t slave;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
    uint16_t lastAlias, aliasIndex;
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   349
    SlaveInfo slaveInfo;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   350
    typedef list<SlaveInfo> SlaveInfoList;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   351
    SlaveInfoList slaveInfoList;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   352
    SlaveInfoList::const_iterator iter;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   353
    stringstream str;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   354
    unsigned int maxPosWidth = 0, maxAliasWidth = 0,
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   355
                 maxRelPosWidth = 0, maxStateWidth = 0;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   357
    open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   358
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   359
    numSlaves = slaveCount();
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   360
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    lastAlias = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
    aliasIndex = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
    for (i = 0; i < numSlaves; i++) {
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   364
        getSlave(&slave, i);
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   365
        
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   366
        str << dec << i;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   367
        slaveInfo.pos = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   368
        str.clear();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   369
        str.str("");
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   370
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   371
        if (slave.alias) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   372
            lastAlias = slave.alias;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
            aliasIndex = 0;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
        }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
        if (lastAlias) {
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   376
            str << "#" << hex << lastAlias;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   377
            slaveInfo.alias = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   378
            str.str("");
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   379
            str << ":" << dec << aliasIndex;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   380
            slaveInfo.relPos = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   381
            str.str("");
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   382
            aliasIndex++;
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   383
        } else {
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   384
            slaveInfo.alias = "";
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   385
            slaveInfo.relPos = "";
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   386
        }
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   387
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   388
        slaveInfo.state = slaveState(slave.state);
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   389
        slaveInfo.flag = (slave.error_flag ? 'E' : '+');
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   390
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   391
        if (strlen(slave.name)) {
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   392
            slaveInfo.name = slave.name;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
        } else {
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   394
            str << hex << setfill('0')
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   395
                << setw(8) << slave.vendor_id << ":"
988
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   396
                << setw(8) << slave.product_code;
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   397
            slaveInfo.name = str.str();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   398
            str.str("");
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   399
        }
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   400
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   401
        slaveInfoList.push_back(slaveInfo);
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   402
        if (slaveInfo.pos.length() > maxPosWidth)
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   403
            maxPosWidth = slaveInfo.pos.length();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   404
        if (slaveInfo.alias.length() > maxAliasWidth)
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   405
            maxAliasWidth = slaveInfo.alias.length();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   406
        if (slaveInfo.relPos.length() > maxRelPosWidth)
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   407
            maxRelPosWidth = slaveInfo.relPos.length();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   408
        if (slaveInfo.state.length() > maxStateWidth)
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   409
            maxStateWidth = slaveInfo.state.length();
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   410
    }
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   411
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   412
    for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   413
        cout << setfill(' ') << right
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   414
            << setw(maxPosWidth) << iter->pos << "  "
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   415
            << setw(maxAliasWidth) << iter->alias
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   416
            << left
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   417
            << setw(maxRelPosWidth) << iter->relPos << "  "
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   418
            << setw(maxStateWidth) << iter->state << "  "
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   419
            << iter->flag << "  "
a47c5a3c143d Improved 'ethercat ls' formatting.
Florian Pose <fp@igh-essen.com>
parents: 987
diff changeset
   420
            << iter->name << endl;
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
    }
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   422
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   423
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   424
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   425
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   426
void Master::showMaster()
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   427
{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   428
    ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   429
    stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   430
    unsigned int i;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   431
    
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   432
    open(Read);
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   433
    getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   434
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   435
    cout
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   436
        << "Master" << index << endl
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1001
diff changeset
   437
        << "  Phase: ";
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1001
diff changeset
   438
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1001
diff changeset
   439
    switch (data.phase) {
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   440
        case 0: cout << "Waiting for device..."; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   441
        case 1: cout << "Idle"; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   442
        case 2: cout << "Operation"; break;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   443
        default:
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1001
diff changeset
   444
                err << "Invalid master phase " << data.phase;
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   445
                throw MasterException(err.str());
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   446
    }
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   447
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   448
    cout << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   449
        << "  Slaves: " << data.slave_count << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   450
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   451
    for (i = 0; i < 2; i++) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   452
        cout << "  Device" << i << ": ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   453
        if (data.devices[i].address[0] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   454
                && data.devices[i].address[1] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   455
                && data.devices[i].address[2] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   456
                && data.devices[i].address[3] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   457
                && data.devices[i].address[4] == 0x00
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   458
                && data.devices[i].address[5] == 0x00) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   459
            cout << "None.";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   460
        } else {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   461
            cout << hex << setfill('0')
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   462
                << setw(2) << (unsigned int) data.devices[i].address[0] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   463
                << setw(2) << (unsigned int) data.devices[i].address[1] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   464
                << setw(2) << (unsigned int) data.devices[i].address[2] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   465
                << setw(2) << (unsigned int) data.devices[i].address[3] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   466
                << setw(2) << (unsigned int) data.devices[i].address[4] << ":"
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   467
                << setw(2) << (unsigned int) data.devices[i].address[5] << " ("
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   468
                << (data.devices[i].attached ? "attached" : "waiting...")
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   469
                << ")" << endl << dec
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   470
                << "    Tx count: " << data.devices[i].tx_count << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   471
                << "    Rx count: " << data.devices[i].rx_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   472
        }
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   473
        cout << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   474
    }
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   475
}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   476
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   477
/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
   478
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   479
void Master::listPdos(int slavePosition, bool quiet)
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
   480
{
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   481
    open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   482
936
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   483
    if (slavePosition == -1) {
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   484
        unsigned int numSlaves = slaveCount(), i;
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   485
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   486
        for (i = 0; i < numSlaves; i++) {
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   487
            listSlavePdos(i, quiet, true);
936
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   488
        }
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
   489
    } else {
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   490
        listSlavePdos(slavePosition, quiet, false);
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   491
    }
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   492
}
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   493
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   494
/****************************************************************************/
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   495
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   496
void Master::listSdos(int slavePosition, bool quiet)
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   497
{
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   498
    open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   499
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   500
    if (slavePosition == -1) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   501
        unsigned int numSlaves = slaveCount(), i;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   502
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   503
        for (i = 0; i < numSlaves; i++) {
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   504
            listSlaveSdos(i, quiet, true);
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   505
        }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   506
    } else {
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
   507
        listSlaveSdos(slavePosition, quiet, false);
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   508
    }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   509
}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   510
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   511
/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
   512
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   513
void Master::sdoDownload(
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   514
        int slavePosition,
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   515
        const string &dataTypeStr,
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   516
        const vector<string> &commandArgs
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   517
        )
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   518
{
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   519
    stringstream strIndex, strSubIndex, strValue, err;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   520
    int number, sval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   521
    ec_ioctl_sdo_download_t data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   522
    unsigned int i, uval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   523
    const CoEDataType *dataType = NULL;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   524
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   525
    if (slavePosition < 0) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   526
        err << "'sdo_download' requires a slave! Please specify --slave.";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   527
        throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   528
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   529
    data.slave_position = slavePosition;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   530
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   531
    if (commandArgs.size() != 3) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   532
        err << "'sdo_download' takes 3 arguments!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   533
        throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   534
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   535
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   536
    strIndex << commandArgs[0];
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   537
    strIndex >> hex >> number;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   538
    if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   539
        err << "Invalid Sdo index '" << commandArgs[0] << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   540
        throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   541
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   542
    data.sdo_index = number;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   543
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   544
    strSubIndex << commandArgs[1];
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   545
    strSubIndex >> hex >> number;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   546
    if (strSubIndex.fail() || number < 0x00 || number > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   547
        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   548
        throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   549
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   550
    data.sdo_entry_subindex = number;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   551
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   552
    if (dataTypeStr != "") { // data type specified
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   553
        if (!(dataType = findDataType(dataTypeStr))) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   554
            err << "Invalid data type '" << dataTypeStr << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   555
            throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   556
        }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   557
    } else { // no data type specified: fetch from dictionary
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   558
        ec_ioctl_sdo_entry_t entry;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   559
        unsigned int entryByteSize;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   560
982
861eb2810f56 Open device with correct permissions immediately.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
   561
        open(ReadWrite);
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   562
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   563
        try {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   564
            getSdoEntry(&entry, slavePosition,
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   565
                    data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   566
        } catch (MasterException &e) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   567
            err << "Failed to determine Sdo entry data type. "
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   568
                << "Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   569
            throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   570
        }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   571
        if (!(dataType = findDataType(entry.data_type))) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   572
            err << "Pdo entry has unknown data type 0x"
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   573
                << hex << setfill('0') << setw(4) << entry.data_type << "!"
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   574
                << " Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   575
            throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   576
        }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   577
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   578
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   579
    if (dataType->byteSize) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   580
        data.data_size = dataType->byteSize;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   581
    } else {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   582
        data.data_size = DefaultBufferSize;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   583
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   584
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   585
    data.data = new uint8_t[data.data_size + 1];
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   586
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   587
    strValue << commandArgs[2];
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   588
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   589
    switch (dataType->coeCode) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   590
        case 0x0002: // int8
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   591
            strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   592
            if ((uint32_t) sval > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   593
                delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   594
                err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   595
                    << dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   596
                throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   597
            }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   598
            *data.data = (int8_t) sval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   599
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   600
        case 0x0003: // int16
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   601
            strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   602
            if ((uint32_t) sval > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   603
                delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   604
                err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   605
                    << dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   606
                throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   607
            }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   608
            *(int16_t *) data.data = cputole16(sval);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   609
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   610
        case 0x0004: // int32
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   611
            strValue >> sval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   612
            *(int32_t *) data.data = cputole32(sval);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   613
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   614
        case 0x0005: // uint8
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   615
            strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   616
            if ((uint32_t) uval > 0xff) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   617
                delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   618
                err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   619
                    << dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   620
                throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   621
            }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   622
            *data.data = (uint8_t) uval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   623
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   624
        case 0x0006: // uint16
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   625
            strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   626
            if ((uint32_t) uval > 0xffff) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   627
                delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   628
                err << "Invalid value for type '"
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   629
                    << dataType->name << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   630
                throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   631
            }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   632
            *(uint16_t *) data.data = cputole16(uval);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   633
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   634
        case 0x0007: // uint32
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   635
            strValue >> uval;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   636
            *(uint32_t *) data.data = cputole32(uval);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   637
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   638
        case 0x0009: // string
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   639
            if (strValue.str().size() >= data.data_size) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   640
                err << "String too big";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   641
                throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   642
            }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   643
            data.data_size = strValue.str().size();
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   644
            strValue >> (char *) data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   645
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   646
        default:
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   647
            break;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   648
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   649
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   650
    if (strValue.fail()) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   651
        err << "Invalid value argument '" << commandArgs[2] << "'!";
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   652
        throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   653
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   654
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   655
    open(ReadWrite);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   656
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   657
    if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   658
        stringstream err;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   659
        err << "Failed to download Sdo: " << strerror(errno);
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   660
        delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   661
        throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   662
    }
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   663
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   664
    delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   665
}
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   666
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   667
/****************************************************************************/
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   668
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   669
void Master::sdoUpload(
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   670
        int slavePosition,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   671
        const string &dataTypeStr,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   672
        const vector<string> &commandArgs
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   673
        )
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   674
{
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   675
    stringstream strIndex, strSubIndex;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   676
    int number, sval;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   677
    ec_ioctl_sdo_upload_t data;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   678
    unsigned int i, uval;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   679
    const CoEDataType *dataType = NULL;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   680
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   681
    if (slavePosition < 0) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   682
        stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   683
        err << "'sdo_upload' requires a slave! Please specify --slave.";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   684
        throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   685
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   686
    data.slave_position = slavePosition;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   687
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   688
    if (commandArgs.size() != 2) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   689
        stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   690
        err << "'sdo_upload' takes two arguments!";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   691
        throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   692
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   693
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   694
    strIndex << commandArgs[0];
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   695
    strIndex >> hex >> number;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   696
    if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   697
        stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   698
        err << "Invalid Sdo index '" << commandArgs[0] << "'!";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   699
        throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   700
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   701
    data.sdo_index = number;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   702
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   703
    strSubIndex << commandArgs[1];
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   704
    strSubIndex >> hex >> number;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   705
    if (strSubIndex.fail() || number < 0x00 || number > 0xff) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   706
        stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   707
        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   708
        throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   709
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   710
    data.sdo_entry_subindex = number;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   711
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   712
    if (dataTypeStr != "") { // data type specified
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   713
        if (!(dataType = findDataType(dataTypeStr))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   714
            stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   715
            err << "Invalid data type '" << dataTypeStr << "'!";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   716
            throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   717
        }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   718
    } else { // no data type specified: fetch from dictionary
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   719
        ec_ioctl_sdo_entry_t entry;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   720
        unsigned int entryByteSize;
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   721
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   722
        open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   723
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   724
        try {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   725
            getSdoEntry(&entry, slavePosition,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   726
                    data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   727
        } catch (MasterException &e) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   728
            stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   729
            err << "Failed to determine Sdo entry data type. "
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   730
                << "Please specify --type.";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   731
            throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   732
        }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   733
        if (!(dataType = findDataType(entry.data_type))) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   734
            stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   735
            err << "Pdo entry has unknown data type 0x"
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   736
                << hex << setfill('0') << setw(4) << entry.data_type << "!"
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   737
                << " Please specify --type.";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   738
            throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   739
        }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   740
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   741
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   742
    if (dataType->byteSize) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   743
        data.target_size = dataType->byteSize;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   744
    } else {
974
5868944a6456 Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 972
diff changeset
   745
        data.target_size = DefaultBufferSize;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   746
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   747
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   748
    data.target = new uint8_t[data.target_size + 1];
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   749
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   750
    open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   751
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   752
    if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   753
        stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   754
        err << "Failed to upload Sdo: " << strerror(errno);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   755
        delete [] data.target;
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   756
        close();
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   757
        throw MasterException(err.str());
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   758
    }
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   759
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   760
    close();
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   761
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   762
    if (dataType->byteSize && data.data_size != dataType->byteSize) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   763
        stringstream err;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   764
        err << "Data type mismatch. Expected " << dataType->name
970
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   765
            << " with " << dataType->byteSize << " byte, but got "
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
   766
            << data.data_size << " byte.";
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   767
        throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   768
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   769
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   770
    cout << setfill('0');
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   771
    switch (dataType->coeCode) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   772
        case 0x0002: // int8
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   773
            sval = *(int8_t *) data.target;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   774
            cout << sval << " 0x" << hex << setw(2) << sval << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   775
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   776
        case 0x0003: // int16
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   777
            sval = le16tocpu(*(int16_t *) data.target);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   778
            cout << sval << " 0x" << hex << setw(4) << sval << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   779
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   780
        case 0x0004: // int32
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   781
            sval = le32tocpu(*(int32_t *) data.target);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   782
            cout << sval << " 0x" << hex << setw(8) << sval << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   783
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   784
        case 0x0005: // uint8
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   785
            uval = (unsigned int) *(uint8_t *) data.target;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   786
            cout << uval << " 0x" << hex << setw(2) << uval << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   787
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   788
        case 0x0006: // uint16
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   789
            uval = le16tocpu(*(uint16_t *) data.target);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   790
            cout << uval << " 0x" << hex << setw(4) << uval << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   791
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   792
        case 0x0007: // uint32
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   793
            uval = le32tocpu(*(uint32_t *) data.target);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   794
            cout << uval << " 0x" << hex << setw(8) << uval << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   795
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   796
        case 0x0009: // string
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   797
            cout << string((const char *) data.target, data.data_size)
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   798
                << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   799
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   800
        default:
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   801
            printRawData(data.target, data.data_size);
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   802
            break;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   803
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   804
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   805
    delete [] data.target;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   806
}
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   807
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   808
/****************************************************************************/
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
   809
989
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   810
void Master::showSlaves(int slavePosition)
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   811
{
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   812
    open(Read);
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   813
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   814
    if (slavePosition == -1) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   815
        unsigned int numSlaves = slaveCount(), i;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   816
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   817
        for (i = 0; i < numSlaves; i++) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   818
            showSlave(i);
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   819
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   820
    } else {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   821
        showSlave(slavePosition);
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   822
    }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   823
}
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   824
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   825
/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
   826
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   827
void Master::siiRead(int slavePosition)
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   828
{
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   829
    ec_ioctl_sii_t data;
978
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   830
    ec_ioctl_slave_t slave;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   831
    unsigned int i;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   832
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   833
    if (slavePosition < 0) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   834
        stringstream err;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   835
        err << "'sii_read' requires a slave! Please specify --slave.";
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   836
        throw MasterException(err.str());
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   837
    }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   838
    data.slave_position = slavePosition;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   839
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   840
    open(Read);
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   841
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   842
    getSlave(&slave, slavePosition);
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   843
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   844
    if (!slave.sii_nwords)
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   845
        return;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   846
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   847
    data.offset = 0;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   848
    data.nwords = slave.sii_nwords;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   849
    data.words = new uint16_t[data.nwords];
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   850
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   851
    if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   852
        stringstream err;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   853
        delete [] data.words;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   854
        err << "Failed to read SII: " << strerror(errno);
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   855
        throw MasterException(err.str());
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   856
    }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   857
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   858
    for (i = 0; i < data.nwords; i++) {
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   859
        uint16_t *w = data.words + i;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   860
        cout << *(uint8_t *) w << *((uint8_t *) w + 1);
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   861
    }
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   862
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   863
    delete [] data.words;
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   864
}
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   865
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   866
/****************************************************************************/
2962baf7e6d1 Implemented SII read.
Florian Pose <fp@igh-essen.com>
parents: 976
diff changeset
   867
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   868
void Master::siiWrite(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   869
        int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   870
        bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   871
        const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   872
        )
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   873
{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   874
    stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   875
    ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   876
    ifstream file;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   877
    unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   878
    const uint16_t *categoryHeader;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   879
    uint16_t categoryType, categorySize;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   880
    uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   881
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   882
    if (slavePosition < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   883
        err << "'sii_write' requires a slave! Please specify --slave.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   884
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   885
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   886
    data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   887
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   888
    if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   889
        err << "'ssi_write' takes exactly one argument!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   890
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   891
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   892
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   893
    file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   894
    if (file.fail()) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   895
        err << "Failed to open '" << commandArgs[0] << "'!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   896
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   897
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   898
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   899
    // get length of file
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   900
    file.seekg(0, ios::end);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   901
    byte_size = file.tellg();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   902
    file.seekg(0, ios::beg);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   903
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   904
    if (!byte_size || byte_size % 2) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   905
        stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   906
        err << "Invalid file size! Must be non-zero and even.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   907
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   908
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   909
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   910
    data.nwords = byte_size / 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   911
    if (data.nwords < 0x0041 && !force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   912
        err << "SII data too short (" << data.nwords << " words)! Mimimum is"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   913
                " 40 fixed words + 1 delimiter. Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   914
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   915
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   916
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   917
    // allocate buffer and read file into buffer
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   918
    data.words = new uint16_t[data.nwords];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   919
    file.read((char *) data.words, byte_size);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   920
    file.close();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   921
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   922
    if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   923
        // calculate checksum over words 0 to 6
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   924
        crc = calcSiiCrc((const uint8_t *) data.words, 14);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   925
        if (crc != ((const uint8_t *) data.words)[14]) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   926
            err << "CRC incorrect. Must be 0x"
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   927
                << hex << setfill('0') << setw(2) << (unsigned int) crc
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   928
                << ". Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   929
            throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   930
        }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   931
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   932
        // cycle through categories to detect corruption
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   933
        categoryHeader = data.words + 0x0040;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   934
        categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   935
        while (categoryType != 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   936
            if (categoryHeader + 1 > data.words + data.nwords) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   937
                err << "SII data seem to be corrupted! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   938
                    << "Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   939
                throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   940
            }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   941
            categorySize = le16tocpu(*(categoryHeader + 1));
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   942
            if (categoryHeader + categorySize + 2 > data.words + data.nwords) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   943
                err << "SII data seem to be corrupted! "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   944
                    "Use --force to write anyway.";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   945
                throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   946
            }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   947
            categoryHeader += categorySize + 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   948
            categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   949
        }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   950
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   951
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   952
    // send data to master
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   953
    open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   954
    data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   955
    if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   956
        stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   957
        err << "Failed to write SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   958
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   959
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   960
}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   961
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   962
/****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
   963
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   964
void Master::requestStates(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   965
        int slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   966
        const vector<string> &commandArgs
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   967
        )
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   968
{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   969
    string stateStr;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   970
    uint8_t state;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   971
    
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   972
    if (commandArgs.size() != 1) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   973
        stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   974
        err << "'state' takes exactly one argument!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   975
        throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   976
    }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   977
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   978
    stateStr = commandArgs[0];
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   979
    transform(stateStr.begin(), stateStr.end(),
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   980
            stateStr.begin(), (int (*) (int)) std::toupper);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   981
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   982
    if (stateStr == "INIT") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   983
        state = 0x01;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   984
    } else if (stateStr == "PREOP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   985
        state = 0x02;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   986
    } else if (stateStr == "SAFEOP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   987
        state = 0x04;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   988
    } else if (stateStr == "OP") {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   989
        state = 0x08;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   990
    } else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   991
        stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   992
        err << "Invalid state '" << commandArgs[0] << "'!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   993
        throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   994
    }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   995
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   996
    open(ReadWrite);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
   997
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   998
    if (slavePosition == -1) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
   999
        unsigned int i, numSlaves = slaveCount();
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1000
        for (i = 0; i < numSlaves; i++)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1001
            requestState(i, state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1002
    } else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1003
        requestState(slavePosition, state);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1004
    }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1005
}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1006
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1007
/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1008
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1009
void Master::generateXml(int slavePosition)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1010
{
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1011
    open(Read);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1012
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1013
    if (slavePosition == -1) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1014
        unsigned int numSlaves = slaveCount(), i;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1015
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1016
        for (i = 0; i < numSlaves; i++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1017
            generateSlaveXml(i);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1018
        }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1019
    } else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1020
        generateSlaveXml(slavePosition);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1021
    }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1022
}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1023
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1024
/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1025
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1026
void Master::open(Permissions perm)
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1027
{
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1028
    stringstream deviceName;
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1029
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1030
    if (fd != -1) { // already open
982
861eb2810f56 Open device with correct permissions immediately.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
  1031
        return;
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1032
    }
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1033
    
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1034
    deviceName << "/dev/EtherCAT" << index;
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1035
    
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1036
    if ((fd = ::open(deviceName.str().c_str(),
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1037
                    perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1038
        stringstream err;
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1039
        err << "Failed to open master device " << deviceName.str() << ": "
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1040
            << strerror(errno);
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1041
        throw MasterException(err.str());
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1042
    }
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1043
}
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1044
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1045
/****************************************************************************/
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1046
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1047
void Master::close()
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1048
{
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1049
    if (fd == -1)
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1050
        return;
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1051
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1052
    ::close(fd);
982
861eb2810f56 Open device with correct permissions immediately.
Florian Pose <fp@igh-essen.com>
parents: 980
diff changeset
  1053
    fd = -1;
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1054
}
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1055
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1056
/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1057
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1058
/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1059
 * Writes the Secondary slave address (alias) to the slave's SII.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1060
 */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1061
void Master::writeSlaveAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1062
        uint16_t slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1063
        uint16_t alias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1064
        )
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1065
{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1066
    ec_ioctl_sii_t data;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1067
    ec_ioctl_slave_t slave;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1068
    stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1069
    uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1070
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1071
    open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1072
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1073
    getSlave(&slave, slavePosition);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1074
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1075
    if (slave.sii_nwords < 8) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1076
        err << "Current SII contents are too small to set an alias "
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1077
            << "(" << slave.sii_nwords << " words)!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1078
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1079
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1080
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1081
    data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1082
    data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1083
    data.nwords = 8;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1084
    data.words = new uint16_t[data.nwords];
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1085
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1086
    // read first 8 SII words
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1087
    if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1088
        delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1089
        err << "Failed to read SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1090
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1091
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1092
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1093
    // write new alias address in word 4
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1094
    data.words[4] = cputole16(alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1095
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1096
    // calculate checksum over words 0 to 6
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1097
    crc = calcSiiCrc((const uint8_t *) data.words, 14);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1098
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1099
    // write new checksum into first byte of word 7
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1100
    *(uint8_t *) (data.words + 7) = crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1101
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1102
    // write first 8 words with new alias and checksum
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1103
    if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1104
        delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1105
        err << "Failed to write SII: " << strerror(errno);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1106
        throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1107
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1108
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1109
    delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1110
}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1111
972
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1112
/****************************************************************************/
ad59641a68c8 ioctl() permissions.
Florian Pose <fp@igh-essen.com>
parents: 970
diff changeset
  1113
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1114
void Master::outputDomainData(unsigned int domainIndex)
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1115
{
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1116
    ec_ioctl_domain_t domain;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1117
    ec_ioctl_data_t data;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1118
    unsigned char *processData;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1119
    unsigned int i;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1120
    
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1121
    getDomain(&domain, domainIndex);
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1122
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1123
    if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1124
        return;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1125
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1126
    processData = new unsigned char[domain.data_size];
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1127
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1128
    try {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1129
        getData(&data, domainIndex, domain.data_size, processData);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1130
    } catch (MasterException &e) {
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1131
        delete [] processData;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1132
        throw e;
949
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1133
    }
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1134
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1135
    for (i = 0; i < data.data_size; i++)
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1136
        cout << processData[i];
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1137
    cout.flush();
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1138
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1139
    delete [] processData;
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1140
}
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1141
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1142
/****************************************************************************/
e424c0074c67 Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents: 948
diff changeset
  1143
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1144
void Master::showDomain(unsigned int domainIndex)
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1145
{
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1146
    ec_ioctl_domain_t domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1147
    unsigned char *processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1148
    ec_ioctl_data_t data;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1149
    unsigned int i, j;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1150
    ec_ioctl_domain_fmmu_t fmmu;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1151
    unsigned int dataOffset;
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1152
    
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1153
    getDomain(&domain, domainIndex);
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1154
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1155
	cout << "Domain" << domainIndex << ":"
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1156
		<< " LogBaseAddr 0x"
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1157
		<< hex << setfill('0') << setw(8) << domain.logical_base_address
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1158
		<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1159
		<< ", WorkingCounter "
951
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1160
		<< dec << domain.working_counter << "/"
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1161
        << domain.expected_working_counter << endl;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1162
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1163
    if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1164
        return;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1165
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1166
    processData = new unsigned char[domain.data_size];
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1167
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1168
    try {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1169
        getData(&data, domainIndex, domain.data_size, processData);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1170
    } catch (MasterException &e) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1171
        delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1172
        throw e;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1173
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1174
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1175
    for (i = 0; i < domain.fmmu_count; i++) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1176
        getFmmu(&fmmu, domainIndex, i);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1177
951
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1178
        cout << "  SlaveConfig "
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1179
            << fmmu.slave_config_alias << ":" << fmmu.slave_config_position
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1180
            << ", Dir "
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1181
            << setfill(' ') << setw(3) << (fmmu.fmmu_dir ? "In" : "Out")
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1182
            << ", LogAddr 0x" 
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1183
            << hex << setfill('0') << setw(8) << fmmu.logical_address
951
dc84a0af63da Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents: 950
diff changeset
  1184
            << ", Size " << dec << fmmu.data_size << endl;
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1185
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1186
        dataOffset = fmmu.logical_address - domain.logical_base_address;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1187
        if (dataOffset + fmmu.data_size > domain.data_size) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1188
            stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1189
            err << "Fmmu information corrupted!";
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1190
            delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1191
            throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1192
        }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1193
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1194
        cout << "    " << hex << setfill('0');
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1195
        for (j = 0; j < fmmu.data_size; j++) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1196
            cout << setw(2)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1197
                << (unsigned int) *(processData + dataOffset + j) << " ";
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1198
        }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1199
        cout << endl;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1200
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1201
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1202
    delete [] processData;
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1203
}
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1204
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1205
/****************************************************************************/
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1206
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1207
void Master::listSlavePdos(
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1208
        uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1209
        bool quiet,
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1210
        bool withHeader
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1211
        )
936
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
  1212
{
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1213
    ec_ioctl_slave_t slave;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1214
    ec_ioctl_sync_t sync;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1215
    ec_ioctl_pdo_t pdo;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1216
    ec_ioctl_pdo_entry_t entry;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1217
    unsigned int i, j, k;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1218
    
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1219
    getSlave(&slave, slavePosition);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1220
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1221
    if (withHeader)
936
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
  1222
        cout << "=== Slave " << slavePosition << " ===" << endl;
30fddfce8db6 Added multi-slave support.
Florian Pose <fp@igh-essen.com>
parents: 935
diff changeset
  1223
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1224
    for (i = 0; i < slave.sync_count; i++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1225
        getSync(&sync, slavePosition, i);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1226
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1227
        cout << "SM" << i << ":"
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1228
            << " PhysAddr 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1229
            << hex << setfill('0') << setw(4) << sync.physical_start_address
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1230
            << ", DefaultSize "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1231
            << dec << setfill(' ') << setw(4) << sync.default_size
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1232
            << ", ControlRegister 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1233
            << hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1234
            << (unsigned int) sync.control_register
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1235
            << ", Enable " << dec << (unsigned int) sync.enable
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1236
            << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1237
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1238
        for (j = 0; j < sync.pdo_count; j++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1239
            getPdo(&pdo, slavePosition, i, j);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1240
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1241
            cout << "  " << (pdo.dir ? "T" : "R") << "xPdo 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1242
                << hex << setfill('0') << setw(4) << pdo.index
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1243
                << " \"" << pdo.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1244
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1245
            if (quiet)
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1246
                continue;
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1247
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1248
            for (k = 0; k < pdo.entry_count; k++) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1249
                getPdoEntry(&entry, slavePosition, i, j, k);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1250
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1251
                cout << "    Pdo entry 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1252
                    << hex << setfill('0') << setw(4) << entry.index
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1253
                    << ":" << setw(2) << (unsigned int) entry.subindex
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1254
                    << ", " << dec << (unsigned int) entry.bit_length
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1255
                    << " bit, \"" << entry.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1256
            }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1257
        }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1258
    }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1259
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1260
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1261
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1262
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1263
void Master::listSlaveSdos(
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1264
        uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1265
        bool quiet,
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1266
        bool withHeader
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1267
        )
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1268
{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1269
    ec_ioctl_slave_t slave;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1270
    ec_ioctl_sdo_t sdo;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1271
    ec_ioctl_sdo_entry_t entry;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1272
    unsigned int i, j, k;
970
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1273
    const CoEDataType *d;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1274
    
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1275
    getSlave(&slave, slavePosition);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1276
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1277
    if (withHeader)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1278
        cout << "=== Slave " << slavePosition << " ===" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1279
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1280
    for (i = 0; i < slave.sdo_count; i++) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1281
        getSdo(&sdo, slavePosition, i);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1282
970
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1283
        cout << "Sdo "
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1284
            << hex << setfill('0') << setw(4) << sdo.sdo_index
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1285
            << ", \"" << sdo.name << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1286
966
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1287
        if (quiet)
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1288
            continue;
f1a7ea8a550a Added -q flag (quiet).
Florian Pose <fp@igh-essen.com>
parents: 965
diff changeset
  1289
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1290
        for (j = 0; j <= sdo.max_subindex; j++) {
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1291
            getSdoEntry(&entry, slavePosition, -i, j);
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1292
983
efb947bd96f3 Output Sdo index at entry.
Florian Pose <fp@igh-essen.com>
parents: 982
diff changeset
  1293
            cout << "  " << hex << setfill('0')
efb947bd96f3 Output Sdo index at entry.
Florian Pose <fp@igh-essen.com>
parents: 982
diff changeset
  1294
                << setw(4) << sdo.sdo_index << ":" 
efb947bd96f3 Output Sdo index at entry.
Florian Pose <fp@igh-essen.com>
parents: 982
diff changeset
  1295
                << setw(2) << (unsigned int) entry.sdo_entry_subindex
970
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1296
                << ", ";
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1297
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1298
            if ((d = findDataType(entry.data_type))) {
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1299
                cout << d->name;
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1300
            } else {
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1301
                cout << "type " << setw(4) << entry.data_type;
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1302
            }
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1303
b7cbff36bc01 Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 968
diff changeset
  1304
            cout << ", " << dec << entry.bit_length << " bit, \""
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1305
                << entry.description << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1306
        }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1307
    }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1308
}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1309
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1310
/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1311
989
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1312
void Master::showSlave(uint16_t slavePosition)
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1313
{
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1314
    ec_ioctl_slave_t slave;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1315
    list<string> protoList;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1316
    list<string>::const_iterator protoIter;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1317
    
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1318
    getSlave(&slave, slavePosition);
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1319
        
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1320
    cout << "Slave " << dec << slavePosition << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1321
        << "Alias: 0x" << hex << setfill('0') << setw(4) << slave.alias << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1322
        << "State: " << slaveState(slave.state) << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1323
        << "Flag: " << (slave.error_flag ? 'E' : '+') << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1324
        << "Identity:" << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1325
        << "  Vendor Id: 0x"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1326
        << hex << setfill('0') << setw(8) << slave.vendor_id << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1327
        << "  Product code: 0x"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1328
        << setw(8) << slave.product_code << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1329
        << "  Revision number: 0x"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1330
        << setw(8) << slave.revision_number << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1331
        << "  Serial number: 0x"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1332
        << setw(8) << slave.serial_number << endl;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1333
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1334
    if (slave.mailbox_protocols) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1335
        cout << "Mailboxes:" << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1336
        << "  RX: 0x"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1337
        << hex << setw(4) << slave.rx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1338
        << dec << slave.rx_mailbox_size
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1339
        << ", TX: 0x"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1340
        << hex << setw(4) << slave.tx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1341
        << dec << slave.tx_mailbox_size << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1342
        << "  Supported protocols: ";
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1343
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1344
        if (slave.mailbox_protocols & EC_MBOX_AOE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1345
            protoList.push_back("AoE");
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1346
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1347
        if (slave.mailbox_protocols & EC_MBOX_EOE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1348
            protoList.push_back("EoE");
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1349
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1350
        if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1351
            protoList.push_back("CoE");
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1352
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1353
        if (slave.mailbox_protocols & EC_MBOX_FOE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1354
            protoList.push_back("FoE");
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1355
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1356
        if (slave.mailbox_protocols & EC_MBOX_SOE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1357
            protoList.push_back("SoE");
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1358
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1359
        if (slave.mailbox_protocols & EC_MBOX_VOE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1360
            protoList.push_back("VoE");
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1361
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1362
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1363
        for (protoIter = protoList.begin(); protoIter != protoList.end();
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1364
                protoIter++) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1365
            if (protoIter != protoList.begin())
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1366
                cout << ", ";
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1367
            cout << *protoIter;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1368
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1369
        cout << endl;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1370
    }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1371
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1372
    if (slave.has_general_category) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1373
        cout << "General:" << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1374
            << "  Name: " << slave.name << endl;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1375
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1376
        if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1377
            cout << "  CoE details:" << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1378
                << "    Enable Sdo: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1379
                << (slave.coe_details.enable_sdo ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1380
                << "    Enable Sdo Info: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1381
                << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1382
                << "    Enable Pdo Assign: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1383
                << (slave.coe_details.enable_pdo_assign
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1384
                        ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1385
                << "    Enable Pdo Configuration: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1386
                << (slave.coe_details.enable_pdo_configuration
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1387
                        ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1388
                << "    Enable Upload at startup: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1389
                << (slave.coe_details.enable_upload_at_startup
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1390
                        ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1391
                << "    Enable Sdo complete access: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1392
                << (slave.coe_details.enable_sdo_complete_access
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1393
                        ? "yes" : "no") << endl;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1394
        }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1395
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1396
        cout << "  Flags:" << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1397
            << "    Enable SafeOp: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1398
            << (slave.general_flags.enable_safeop ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1399
            << "    Enable notLRW: "
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1400
            << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1401
            << "  Current consumption: "
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1402
            << dec << slave.current_on_ebus << " mA" << endl;
989
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1403
    }
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1404
    cout << endl;
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1405
}
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1406
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1407
/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'.
Florian Pose <fp@igh-essen.com>
parents: 988
diff changeset
  1408
938
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1409
void Master::generateSlaveXml(uint16_t slavePosition)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1410
{
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1411
    ec_ioctl_slave_t slave;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1412
    ec_ioctl_sync_t sync;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1413
    ec_ioctl_pdo_t pdo;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1414
    ec_ioctl_pdo_entry_t entry;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1415
    unsigned int i, j, k;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1416
    
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1417
    getSlave(&slave, slavePosition);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1418
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1419
    cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1420
        << "<?xml version=\"1.0\" ?>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1421
        << "  <EtherCATInfo>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1422
        << "    <!-- Slave " << slave.position << " -->" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1423
        << "    <Vendor>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1424
        << "      <Id>" << slave.vendor_id << "</Id>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1425
        << "    </Vendor>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1426
        << "    <Descriptions>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1427
        << "      <Devices>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1428
        << "        <Device>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1429
        << "          <Type ProductCode=\"#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1430
        << hex << setfill('0') << setw(8) << slave.product_code
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1431
        << "\" RevisionNo=\"#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1432
        << hex << setfill('0') << setw(8) << slave.revision_number
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1433
        << "\"/>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1434
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1435
    for (i = 0; i < slave.sync_count; i++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1436
        getSync(&sync, slavePosition, i);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1437
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1438
        for (j = 0; j < sync.pdo_count; j++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1439
            getPdo(&pdo, slavePosition, i, j);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1440
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1441
            cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1442
                << "          <" << (pdo.dir ? "T" : "R") << "xPdo>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1443
                << "            <Index>#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1444
                << hex << setfill('0') << setw(4) << pdo.index
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1445
                << "</Index>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1446
                << "            <Name>" << pdo.name << "</Name>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1447
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1448
            for (k = 0; k < pdo.entry_count; k++) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1449
                getPdoEntry(&entry, slavePosition, i, j, k);
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1450
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1451
                cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1452
                    << "            <Entry>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1453
                    << "              <Index>#x"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1454
                    << hex << setfill('0') << setw(4) << entry.index
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1455
                    << "</Index>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1456
                if (entry.index)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1457
                    cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1458
                        << "              <SubIndex>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1459
                        << dec << (unsigned int) entry.subindex
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1460
                        << "</SubIndex>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1461
                
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1462
                cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1463
                    << "              <BitLen>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1464
                    << (unsigned int) entry.bit_length
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1465
                    << "</BitLen>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1466
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1467
                if (entry.index) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1468
                    cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1469
                        << "              <Name>" << entry.name
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1470
                        << "</Name>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1471
                        << "              <DataType>";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1472
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1473
                    if (entry.bit_length == 1) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1474
                        cout << "BOOL";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1475
                    } else if (!(entry.bit_length % 8)) {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1476
                        if (entry.bit_length <= 64)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1477
                            cout << "UINT" << (unsigned int) entry.bit_length;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1478
                        else
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1479
                            cout << "STRING("
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1480
                                << (unsigned int) (entry.bit_length / 8)
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1481
                                << ")";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1482
                    } else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1483
                        cerr << "Invalid bit length "
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1484
                            << (unsigned int) entry.bit_length << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1485
                    }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1486
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1487
                        cout << "</DataType>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1488
                }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1489
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1490
                cout << "            </Entry>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1491
            }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1492
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1493
            cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1494
                << "          </" << (pdo.dir ? "T" : "R") << "xPdo>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1495
        }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1496
    }
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1497
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1498
    cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1499
        << "        </Device>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1500
        << "     </Devices>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1501
        << "  </Descriptions>" << endl
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1502
        << "</EtherCATInfo>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1503
}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1504
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1505
/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents: 936
diff changeset
  1506
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1507
unsigned int Master::slaveCount()
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1508
{
957
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1509
    ec_ioctl_master_t data;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1510
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1511
    getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1512
    return data.slave_count;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1513
}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1514
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1515
/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1516
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1517
void Master::getMaster(ec_ioctl_master_t *data)
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1518
{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1519
    if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1520
        stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1521
        err << "Failed to get master information: " << strerror(errno);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1522
        throw MasterException(err.str());
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents: 956
diff changeset
  1523
    }
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1524
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1525
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1526
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1527
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1528
void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1529
{
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1530
    data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1531
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1532
    if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1533
        stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1534
        err << "Failed to get slave configuration: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1535
        throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1536
    }
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1537
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1538
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1539
/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1540
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1541
void Master::getConfigPdo(
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1542
        ec_ioctl_config_pdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1543
        unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1544
        unsigned int dir,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1545
        unsigned int pdo_pos
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1546
        )
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1547
{
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1548
    data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1549
    data->direction = dir;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1550
    data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1551
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1552
    if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1553
        stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1554
        err << "Failed to get slave config Pdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1555
        throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1556
    }
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1557
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1558
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1559
/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1560
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1561
void Master::getConfigPdoEntry(
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1562
        ec_ioctl_config_pdo_entry_t *data,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1563
        unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1564
        unsigned int dir,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1565
        unsigned int pdo_pos,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1566
        unsigned int entry_pos
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1567
        )
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1568
{
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1569
    data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1570
    data->direction = dir;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1571
    data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1572
    data->entry_pos = entry_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1573
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1574
    if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1575
        stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1576
        err << "Failed to get slave config Pdo entry: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1577
        throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1578
    }
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1579
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1580
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1581
/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1582
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1583
void Master::getConfigSdo(
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1584
        ec_ioctl_config_sdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1585
        unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1586
        unsigned int sdo_pos
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1587
        )
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1588
{
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1589
    data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1590
    data->sdo_pos = sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1591
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1592
    if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1593
        stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1594
        err << "Failed to get slave config Sdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1595
        throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1596
    }
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1597
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1598
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1599
/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 989
diff changeset
  1600
948
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1601
void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1602
{
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1603
    data->index = index;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1604
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1605
    if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1606
        stringstream err;
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1607
        err << "Failed to get domain: ";
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1608
        if (errno == EINVAL)
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1609
            err << "Domain " << index << " does not exist!";
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1610
        else
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1611
            err << strerror(errno);
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1612
        throw MasterException(err.str());
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1613
    }
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1614
}
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1615
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1616
/****************************************************************************/
1cfab7161491 Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents: 938
diff changeset
  1617
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1618
void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1619
        unsigned int dataSize, unsigned char *mem)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1620
{
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1621
    data->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1622
    data->data_size = dataSize;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1623
    data->target = mem;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1624
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1625
    if (ioctl(fd, EC_IOCTL_DATA, data) < 0) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1626
        stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1627
        err << "Failed to get domain data: " << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1628
        throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1629
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1630
}
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1631
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1632
/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1633
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1634
void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1635
{
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1636
    slave->position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1637
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1638
    if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1639
        stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1640
        err << "Failed to get slave: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1641
        if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1642
            err << "Slave " << slaveIndex << " does not exist!";
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1643
        else
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1644
            err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1645
        throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1646
    }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1647
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1648
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1649
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1650
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1651
void Master::getFmmu(
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1652
        ec_ioctl_domain_fmmu_t *fmmu,
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1653
        unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1654
        unsigned int fmmuIndex
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1655
        )
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1656
{
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1657
    fmmu->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1658
    fmmu->fmmu_index = fmmuIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1659
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1660
    if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1661
        stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1662
        err << "Failed to get domain FMMU: ";
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1663
        if (errno == EINVAL)
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1664
            err << "Either domain " << domainIndex << " does not exist, "
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1665
                << "or it contains less than " << (unsigned int) fmmuIndex + 1
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1666
                << " FMMus!";
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1667
        else
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1668
            err << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1669
        throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1670
    }
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1671
}
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1672
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1673
/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1674
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1675
void Master::getSync(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1676
        ec_ioctl_sync_t *sync,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1677
        uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1678
        uint8_t syncIndex
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1679
        )
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1680
{
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1681
    sync->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1682
    sync->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1683
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1684
    if (ioctl(fd, EC_IOCTL_SYNC, sync)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1685
        stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1686
        err << "Failed to get sync manager: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1687
        if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1688
            err << "Either slave " << slaveIndex << " does not exist, "
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1689
                << "or it contains less than " << (unsigned int) syncIndex + 1
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1690
                << " sync managers!";
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1691
        else
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1692
            err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1693
        throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1694
    }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1695
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1696
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1697
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1698
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1699
void Master::getPdo(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1700
        ec_ioctl_pdo_t *pdo,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1701
        uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1702
        uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1703
        uint8_t pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1704
        )
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1705
{
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1706
    pdo->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1707
    pdo->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1708
    pdo->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1709
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1710
    if (ioctl(fd, EC_IOCTL_PDO, pdo)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1711
        stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1712
        err << "Failed to get Pdo: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1713
        if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1714
            err << "Either slave " << slaveIndex << " does not exist, "
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1715
                << "or it contains less than " << (unsigned int) syncIndex + 1
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1716
                << " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1717
                << (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1718
                << pdoPos + 1 << " Pdos!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1719
        else
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1720
            err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1721
        throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1722
    }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1723
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1724
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1725
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1726
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1727
void Master::getPdoEntry(
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1728
        ec_ioctl_pdo_entry_t *entry,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1729
        uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1730
        uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1731
        uint8_t pdoPos,
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1732
        uint8_t entryPos
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1733
        )
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1734
{
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1735
    entry->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1736
    entry->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1737
    entry->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1738
    entry->entry_pos = entryPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1739
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1740
    if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1741
        stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1742
        err << "Failed to get Pdo entry: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1743
        if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1744
            err << "Either slave " << slaveIndex << " does not exist, "
950
8b00e63fff90 'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents: 949
diff changeset
  1745
                << "or it contains less than " << (unsigned int) syncIndex + 1
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1746
                << " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1747
                << (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1748
                << pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1749
                << " contains less than " << (unsigned int) entryPos + 1
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1750
                << " entries!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1751
        else
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1752
            err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1753
        throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1754
    }
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1755
}
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1756
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1757
/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1758
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1759
void Master::getSdo(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1760
        ec_ioctl_sdo_t *sdo,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1761
        uint16_t slaveIndex,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1762
        uint16_t sdoPosition
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1763
        )
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1764
{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1765
    sdo->slave_position = slaveIndex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1766
    sdo->sdo_position = sdoPosition;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1767
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1768
    if (ioctl(fd, EC_IOCTL_SDO, sdo)) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1769
        stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1770
        err << "Failed to get Sdo: ";
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1771
        if (errno == EINVAL)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1772
            err << "Either slave " << slaveIndex << " does not exist, "
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1773
                << "or it contains less than " << sdoPosition + 1 << " Sdos!"
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1774
                << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1775
        else
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1776
            err << strerror(errno);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1777
        throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1778
    }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1779
}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1780
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1781
/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1782
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1783
void Master::getSdoEntry(
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1784
        ec_ioctl_sdo_entry_t *entry,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1785
        uint16_t slaveIndex,
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1786
        int sdoSpec,
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1787
        uint8_t entrySubindex
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1788
        )
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1789
{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1790
    entry->slave_position = slaveIndex;
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1791
    entry->sdo_spec = sdoSpec;
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1792
    entry->sdo_entry_subindex = entrySubindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1793
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1794
    if (ioctl(fd, EC_IOCTL_SDO_ENTRY, entry)) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1795
        stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1796
        err << "Failed to get Sdo entry: ";
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1797
        err << strerror(errno);
965
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1798
        throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1799
    }
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1800
}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1801
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1802
/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents: 960
diff changeset
  1803
960
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1804
void Master::requestState(
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1805
        uint16_t slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1806
        uint8_t state
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1807
        )
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1808
{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1809
    ec_ioctl_slave_state_t data;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1810
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1811
    data.slave_position = slavePosition;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1812
    data.requested_state = state;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1813
    
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1814
    if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1815
        stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1816
        err << "Failed to request slave state: ";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1817
        if (errno == EINVAL)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1818
            err << "Slave " << slavePosition << " does not exist!";
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1819
        else
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1820
            err << strerror(errno);
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1821
        throw MasterException(err.str());
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1822
    }
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1823
}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1824
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1825
/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents: 957
diff changeset
  1826
935
b954e9d91ea5 Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1827
string Master::slaveState(uint8_t state)
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1828
{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1829
    switch (state) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1830
        case 1: return "INIT";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1831
        case 2: return "PREOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1832
        case 4: return "SAFEOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1833
        case 8: return "OP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1834
        default: return "???";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1835
    }
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1836
}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1837
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1838
/****************************************************************************/
968
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1839
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1840
void Master::printRawData(
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1841
        const uint8_t *data,
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1842
        unsigned int size)
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1843
{
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1844
    cout << hex << setfill('0');
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1845
    while (size--) {
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1846
        cout << "0x" << setw(2) << (unsigned int) *data++;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1847
        if (size)
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1848
            cout << " ";
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1849
    }
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1850
    cout << endl;
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1851
}
b0e894257743 Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents: 966
diff changeset
  1852
980
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1853
/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1854
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1855
/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1856
 * Calculates the SII checksum field.
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1857
 *
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1858
 * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1859
 * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1860
 *
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1861
 * The below code was originally generated with PYCRC
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1862
 * http://www.tty1.net/pycrc
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1863
 *
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1864
 * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1865
 *   --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1866
 *
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1867
 * \return CRC8
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1868
 */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1869
uint8_t Master::calcSiiCrc(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1870
        const uint8_t *data, /**< pointer to data */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1871
        size_t length /**< number of bytes in \a data */
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1872
        )
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1873
{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1874
    unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1875
    uint8_t bit, byte, crc = 0x48;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1876
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1877
    while (length--) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1878
        byte = *data++;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1879
        for (i = 0; i < 8; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1880
            bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1881
            crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1882
            if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1883
        }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1884
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1885
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1886
    for (i = 0; i < 8; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1887
        bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1888
        crc <<= 1;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1889
        if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1890
    }
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1891
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1892
    return crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1893
}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1894
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents: 978
diff changeset
  1895
/*****************************************************************************/