tool/SdoCommand.cpp
author Martin Troxler <ch1010277@ch10lt194>
Sun, 27 Dec 2009 16:58:19 +0100
changeset 1606 6c5849669900
parent 1363 11c0b2caa253
child 1835 20748e9d2238
permissions -rw-r--r--
Merged
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 ****************************************************************************/
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#include "SdoCommand.h"
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/*****************************************************************************/
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SdoCommand::SdoCommand(const string &name, const string &briefDesc):
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    Command(name, briefDesc)
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{
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}
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/****************************************************************************/
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const SdoCommand::DataType *SdoCommand::findDataType(const string &str)
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{
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    const DataType *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 SdoCommand::DataType *SdoCommand::findDataType(uint16_t code)
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{
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    const DataType *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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const char *SdoCommand::abortText(uint32_t abortCode)
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{
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    const AbortMessage *abortMsg;
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    for (abortMsg = abortMessages; abortMsg->code; abortMsg++) {
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        if (abortMsg->code == abortCode) {
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            return abortMsg->message;
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        }
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    }
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    return "???";
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}
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/****************************************************************************/
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const SdoCommand::DataType SdoCommand::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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    {"octet_string", 0x000a, 0},
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    {"raw",          0xffff, 0},
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    {}
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};
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/*****************************************************************************/
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/** SDO abort messages.
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 *
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 * The "Abort SDO transfer request" supplies an abort code, which can be
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 * translated to clear text. This table does the mapping of the codes and
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 * messages.
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 */
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const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {
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    {0x05030000, "Toggle bit not changed"},
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    {0x05040000, "SDO protocol timeout"},
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    {0x05040001, "Client/Server command specifier not valid or unknown"},
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    {0x05040005, "Out of memory"},
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    {0x06010000, "Unsupported access to an object"},
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    {0x06010001, "Attempt to read a write-only object"},
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    {0x06010002, "Attempt to write a read-only object"},
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    {0x06020000, "This object does not exist in the object directory"},
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    {0x06040041, "The object cannot be mapped into the PDO"},
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    {0x06040042, "The number and length of the objects to be mapped would"
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     " exceed the PDO length"},
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    {0x06040043, "General parameter incompatibility reason"},
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    {0x06040047, "Gerneral internal incompatibility in device"},
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    {0x06060000, "Access failure due to a hardware error"},
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   118
    {0x06070010, "Data type does not match, length of service parameter does"
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   119
     " not match"},
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   120
    {0x06070012, "Data type does not match, length of service parameter too"
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   121
     " high"},
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   122
    {0x06070013, "Data type does not match, length of service parameter too"
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   123
     " low"},
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   124
    {0x06090011, "Subindex does not exist"},
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   125
    {0x06090030, "Value range of parameter exceeded"},
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   126
    {0x06090031, "Value of parameter written too high"},
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   127
    {0x06090032, "Value of parameter written too low"},
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   128
    {0x06090036, "Maximum value is less than minimum value"},
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   129
    {0x08000000, "General error"},
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   130
    {0x08000020, "Data cannot be transferred or stored to the application"},
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   131
    {0x08000021, "Data cannot be transferred or stored to the application"
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   132
     " because of local control"},
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   133
    {0x08000022, "Data cannot be transferred or stored to the application"
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   134
     " because of the present device state"},
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   135
    {0x08000023, "Object dictionary dynamic generation fails or no object"
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   136
     " dictionary is present"},
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   137
    {}
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   138
};
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   139
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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   140
/****************************************************************************/