tool/MasterDevice.h
author Martin Troxler <ch1010277@ch10lt194>
Tue, 19 Jan 2010 19:31:55 +0100
changeset 1776 65786b1d3043
parent 1516 e3b09f847512
child 1804 742607c464c4
permissions -rw-r--r--
removed tabulators
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/*****************************************************************************
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     3
 *  $Id$
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     4
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     5
 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     6
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     8
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    11
 *  published by the Free Software Foundation.
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    12
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    16
 *  Public License for more details.
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    17
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    21
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1335
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 ****************************************************************************/
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
1141
7ffbca63fc72 Minor fixes.
Florian Pose <fp@igh-essen.com>
parents: 1136
diff changeset
    30
#ifndef __MASTER_DEVICE_H__
7ffbca63fc72 Minor fixes.
Florian Pose <fp@igh-essen.com>
parents: 1136
diff changeset
    31
#define __MASTER_DEVICE_H__
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
#include <stdexcept>
1136
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
    34
#include <sstream>
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
using namespace std;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
#include "../include/ecrt.h"
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
#include "../master/ioctl.h"
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
/****************************************************************************/
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
class MasterDeviceException:
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
    public runtime_error
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
{
1136
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
    45
    friend class MasterDevice;
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
    46
    
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
    47
    protected:
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    48
        /** Constructor with string parameter. */
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    49
        MasterDeviceException(
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    50
                const string &s /**< Message. */
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    51
                ): runtime_error(s) {}
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    52
1141
7ffbca63fc72 Minor fixes.
Florian Pose <fp@igh-essen.com>
parents: 1136
diff changeset
    53
        /** Constructor with stringstream parameter. */
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
        MasterDeviceException(
1136
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
    55
                const stringstream &s /**< Message. */
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
    56
                ): runtime_error(s.str()) {}
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
};
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    58
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
/****************************************************************************/
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    60
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    61
class MasterDeviceSdoAbortException:
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    62
    public MasterDeviceException 
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    63
{
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    64
    friend class MasterDevice;
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    65
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    66
    public:
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    67
        uint32_t abortCode;
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    68
    
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    69
    protected:
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    70
        /** Constructor with stringstream parameter. */
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    71
        MasterDeviceSdoAbortException(uint32_t code):
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1200
diff changeset
    72
            MasterDeviceException("SDO transfer aborted.") {
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    73
                abortCode = code;
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    74
            };
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    75
};
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    76
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    77
/****************************************************************************/
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1166
diff changeset
    78
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
class MasterDevice
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
{
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
    public:
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
        MasterDevice();
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
        ~MasterDevice();
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
        void setIndex(unsigned int);
1166
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
    86
		unsigned int getIndex() const;
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    88
        enum Permissions {Read, ReadWrite};
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    89
        void open(Permissions);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    90
        void close();
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    92
        void getMaster(ec_ioctl_master_t *);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
        void getConfig(ec_ioctl_config_t *, unsigned int);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
                uint16_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    96
        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
                uint8_t, uint16_t, uint8_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
        void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    99
        void getDomain(ec_ioctl_domain_t *, unsigned int);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   100
        void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
        void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   102
                unsigned char *);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   103
        void getSlave(ec_ioctl_slave_t *, uint16_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
        void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   107
                uint8_t, uint8_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   108
        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   109
        void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   110
        void readSii(ec_ioctl_slave_sii_t *);
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   111
        void writeSii(ec_ioctl_slave_sii_t *);
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   112
        void readReg(ec_ioctl_slave_reg_t *);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   113
        void writeReg(ec_ioctl_slave_reg_t *);
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   114
		void setDebug(unsigned int);
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   115
		void sdoDownload(ec_ioctl_slave_sdo_download_t *);
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   116
		void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   117
		void requestState(uint16_t, uint8_t);
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   118
		void readFoe(ec_ioctl_slave_foe_t *);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   119
        void writeFoe(ec_ioctl_slave_foe_t *);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   120
#ifdef EC_EOE
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   121
        void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   122
#endif
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   123
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   124
    private:
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   125
        unsigned int index;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   126
        int fd;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   127
};
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   128
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   129
/****************************************************************************/
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   130
1166
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   131
inline unsigned int MasterDevice::getIndex() const
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   132
{
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   133
	return index;
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   134
}
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   135
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   136
/****************************************************************************/
006244d53f68 Removed global variables.
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   137
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   138
#endif