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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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    {0x06070010, "Data type does not match, length of service parameter does"

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     " not match"},

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    {0x06070012, "Data type does not match, length of service parameter too"

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     " high"},

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    {0x06070013, "Data type does not match, length of service parameter too"

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     " low"},

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    {0x06090011, "Subindex does not exist"},

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    {0x06090030, "Value range of parameter exceeded"},

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    {0x06090031, "Value of parameter written too high"},

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    {0x06090032, "Value of parameter written too low"},

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    {0x06090036, "Maximum value is less than minimum value"},

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    {0x08000000, "General error"},

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    {0x08000020, "Data cannot be transferred or stored to the application"},

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    {0x08000021, "Data cannot be transferred or stored to the application"

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     " because of local control"},

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    {0x08000022, "Data cannot be transferred or stored to the application"

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     " because of the present device state"},

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    {0x08000023, "Object dictionary dynamic generation fails or no object"

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     " dictionary is present"},

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    {}

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};

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/****************************************************************************/