author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jun 2008 11:54:39 +0000 | |
changeset 986 | a486591ba86b |
parent 983 | efb947bd96f3 |
child 987 | 3c9090138140 |
permissions | -rw-r--r-- |
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Added the new ethercat comman-line tool with lsec functionality.
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/***************************************************************************** |
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* |
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3 |
* $Id$ |
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* |
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5 |
****************************************************************************/ |
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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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10 |
#include <errno.h> |
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11 |
#include <sys/ioctl.h> |
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|
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13 |
#include <iostream> |
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14 |
#include <iomanip> |
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#include <sstream> |
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16 |
#include <fstream> |
960
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Request slave state(s) with 'ethercat state'; removed sysfs state file.
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17 |
#include <cctype> // toupper() |
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18 |
using namespace std; |
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|
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#include "Master.h" |
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974
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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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|
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#define le16tocpu(x) x |
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#define le32tocpu(x) x |
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|
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#define cputole16(x) x |
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#define cputole32(x) x |
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|
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#elif __BYTE_ORDER == __BIG_ENDIAN |
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|
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#define le16tocpu(x) swap16(x) |
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44 |
#define le32tocpu(x) swap32(x) |
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|
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#define cputole16(x) swap16(x) |
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#define cputole32(x) swap32(x) |
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|
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#endif |
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50 |
|
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51 |
/****************************************************************************/ |
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52 |
|
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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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57 |
}; |
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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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67 |
{"raw", 0xffff, 0}, |
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68 |
{} |
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69 |
}; |
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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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|
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77 |
for (d = dataTypes; d->name; d++) |
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if (str == d->name) |
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79 |
return d; |
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|
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return NULL; |
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82 |
} |
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|
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84 |
/****************************************************************************/ |
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85 |
|
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86 |
const CoEDataType *findDataType(uint16_t code) |
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87 |
{ |
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88 |
const CoEDataType *d; |
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89 |
|
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for (d = dataTypes; d->name; d++) |
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91 |
if (code == d->coeCode) |
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return d; |
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93 |
|
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94 |
return NULL; |
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95 |
} |
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96 |
|
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97 |
/****************************************************************************/ |
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|
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99 |
Master::Master() |
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100 |
{ |
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101 |
index = 0; |
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102 |
fd = -1; |
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103 |
} |
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104 |
|
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105 |
/****************************************************************************/ |
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106 |
|
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107 |
Master::~Master() |
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108 |
{ |
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109 |
close(); |
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110 |
} |
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|
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112 |
/****************************************************************************/ |
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113 |
|
972 | 114 |
void Master::setIndex(unsigned int i) |
115 |
{ |
|
116 |
index = i; |
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} |
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|
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119 |
/*****************************************************************************/ |
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120 |
|
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121 |
/** |
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122 |
* Writes the Secondary slave address (alias) to the slave's SII. |
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123 |
*/ |
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|
124 |
void Master::writeAlias( |
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|
125 |
int slavePosition, |
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|
126 |
bool force, |
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|
127 |
const vector<string> &commandArgs |
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|
128 |
) |
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|
129 |
{ |
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|
130 |
ec_ioctl_sii_t data; |
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|
131 |
ec_ioctl_slave_t slave; |
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|
132 |
unsigned int i; |
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|
133 |
uint16_t alias; |
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|
134 |
stringstream err, strAlias; |
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Implemented SII writing (including alias writing) via ethercat command.
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|
135 |
int number; |
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|
136 |
|
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diff
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|
137 |
if (commandArgs.size() != 1) { |
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|
138 |
stringstream err; |
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Implemented SII writing (including alias writing) via ethercat command.
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|
139 |
err << "'alias' takes exactly one argument!"; |
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|
140 |
throw MasterException(err.str()); |
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|
141 |
} |
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changeset
|
142 |
|
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|
143 |
strAlias << commandArgs[0]; |
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|
144 |
strAlias >> hex >> number; |
c07dd38243ba
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|
145 |
if (strAlias.fail() || number < 0x0000 || number > 0xffff) { |
c07dd38243ba
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changeset
|
146 |
err << "Invalid alias '" << commandArgs[0] << "'!"; |
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changeset
|
147 |
throw MasterException(err.str()); |
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changeset
|
148 |
} |
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changeset
|
149 |
alias = number; |
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changeset
|
150 |
|
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changeset
|
151 |
if (slavePosition == -1) { |
c07dd38243ba
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changeset
|
152 |
unsigned int numSlaves, i; |
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changeset
|
153 |
|
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Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
154 |
if (!force) { |
c07dd38243ba
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changeset
|
155 |
err << "This will write the alias addresses of all slaves to 0x" |
c07dd38243ba
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diff
changeset
|
156 |
<< hex << setfill('0') << setw(4) << alias << "! " |
c07dd38243ba
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changeset
|
157 |
<< "Please specify --force to proceed."; |
c07dd38243ba
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changeset
|
158 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
159 |
} |
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Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
160 |
|
c07dd38243ba
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changeset
|
161 |
open(ReadWrite); |
c07dd38243ba
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diff
changeset
|
162 |
numSlaves = slaveCount(); |
c07dd38243ba
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changeset
|
163 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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parents:
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diff
changeset
|
164 |
for (i = 0; i < numSlaves; i++) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
165 |
writeSlaveAlias(i, alias); |
c07dd38243ba
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parents:
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diff
changeset
|
166 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
167 |
} else { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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parents:
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changeset
|
168 |
open(ReadWrite); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
169 |
writeSlaveAlias(slavePosition, alias); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
170 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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diff
changeset
|
171 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
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parents:
978
diff
changeset
|
172 |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
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parents:
diff
changeset
|
173 |
/****************************************************************************/ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
175 |
void Master::outputData(int domainIndex) |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
176 |
{ |
972 | 177 |
open(Read); |
178 |
||
949
e424c0074c67
Implemented 'data' command.
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948
diff
changeset
|
179 |
if (domainIndex == -1) { |
e424c0074c67
Implemented 'data' command.
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parents:
948
diff
changeset
|
180 |
unsigned int numDomains = domainCount(), i; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
181 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
182 |
for (i = 0; i < numDomains; i++) { |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
183 |
outputDomainData(i); |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
184 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
185 |
} else { |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
186 |
outputDomainData(domainIndex); |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
187 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
188 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
189 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
190 |
/****************************************************************************/ |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
191 |
|
956
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
192 |
void Master::setDebug(const vector<string> &commandArgs) |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
193 |
{ |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
194 |
stringstream str; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
195 |
int debugLevel; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
196 |
|
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
197 |
if (commandArgs.size() != 1) { |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
198 |
stringstream err; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
199 |
err << "'debug' takes exactly one argument!"; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
200 |
throw MasterException(err.str()); |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
201 |
} |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
202 |
|
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
203 |
str << commandArgs[0]; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
204 |
str >> debugLevel; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
205 |
|
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
206 |
if (str.fail()) { |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
207 |
stringstream err; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
208 |
err << "Invalid debug level '" << commandArgs[0] << "'!"; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
209 |
throw MasterException(err.str()); |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
210 |
} |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
211 |
|
972 | 212 |
open(ReadWrite); |
213 |
||
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
214 |
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
|
215 |
stringstream err; |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
216 |
err << "Failed to set debug level: " << strerror(errno); |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
217 |
throw MasterException(err.str()); |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
218 |
} |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
219 |
} |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
220 |
|
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
221 |
/****************************************************************************/ |
d9b9bc794d10
Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents:
951
diff
changeset
|
222 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
223 |
void Master::showDomains(int domainIndex) |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
224 |
{ |
972 | 225 |
open(Read); |
226 |
||
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
227 |
if (domainIndex == -1) { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
228 |
unsigned int numDomains = domainCount(), i; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
229 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
230 |
for (i = 0; i < numDomains; i++) { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
231 |
showDomain(i); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
232 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
233 |
} else { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
234 |
showDomain(domainIndex); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
235 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
236 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
237 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
238 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
239 |
|
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
void Master::listSlaves() |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
{ |
972 | 242 |
unsigned int numSlaves, i; |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
243 |
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
|
244 |
uint16_t lastAlias, aliasIndex; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
|
972 | 246 |
open(Read); |
247 |
||
248 |
numSlaves = slaveCount(); |
|
249 |
||
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
lastAlias = 0; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
aliasIndex = 0; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
252 |
for (i = 0; i < numSlaves; i++) { |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
253 |
getSlave(&slave, i); |
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
254 |
cout << setfill(' ') << setw(2) << i << " "; |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
255 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
256 |
if (slave.alias) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
257 |
lastAlias = slave.alias; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
258 |
aliasIndex = 0; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
259 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
if (lastAlias) { |
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
261 |
cout << "#" |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
262 |
<< hex << setfill('0') << setw(4) << lastAlias |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
263 |
<< ":" << dec << aliasIndex; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
264 |
aliasIndex++; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
267 |
cout << " " << slaveState(slave.state) << " "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
268 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
269 |
if (strlen(slave.name)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
270 |
cout << slave.name; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
} else { |
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
272 |
cout << hex << setfill('0') |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
273 |
<< setw(8) << slave.vendor_id << ":" |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
274 |
<< setw(8) << slave.product_code << dec; |
922
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
275 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
277 |
cout << endl; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
278 |
} |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
279 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
280 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
281 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
282 |
|
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
283 |
void Master::showMaster() |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
284 |
{ |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
285 |
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
|
286 |
stringstream err; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
287 |
unsigned int i; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
288 |
|
972 | 289 |
open(Read); |
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
290 |
getMaster(&data); |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
291 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
292 |
cout |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
293 |
<< "Master" << index << endl |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
294 |
<< " State: "; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
295 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
296 |
switch (data.mode) { |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
297 |
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
|
298 |
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
|
299 |
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
|
300 |
default: |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
301 |
err << "Invalid master state " << data.mode; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
302 |
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
|
303 |
} |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
304 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
305 |
cout << endl |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
306 |
<< " 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
|
307 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
308 |
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
|
309 |
cout << " Device" << i << ": "; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
310 |
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
|
311 |
&& 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
|
312 |
&& 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
|
313 |
&& 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
|
314 |
&& 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
|
315 |
&& 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
|
316 |
cout << "None."; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
317 |
} else { |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
318 |
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
|
319 |
<< 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
|
320 |
<< 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
|
321 |
<< 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
|
322 |
<< 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
|
323 |
<< 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
|
324 |
<< 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
|
325 |
<< (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
|
326 |
<< ")" << endl << dec |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
327 |
<< " 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
|
328 |
<< " 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
|
329 |
} |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
330 |
cout << endl; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
331 |
} |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
332 |
} |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
333 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
334 |
/****************************************************************************/ |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
335 |
|
966 | 336 |
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
|
337 |
{ |
972 | 338 |
open(Read); |
339 |
||
936 | 340 |
if (slavePosition == -1) { |
341 |
unsigned int numSlaves = slaveCount(), i; |
|
342 |
||
343 |
for (i = 0; i < numSlaves; i++) { |
|
966 | 344 |
listSlavePdos(i, quiet, true); |
936 | 345 |
} |
346 |
} else { |
|
966 | 347 |
listSlavePdos(slavePosition, quiet, false); |
348 |
} |
|
349 |
} |
|
350 |
||
351 |
/****************************************************************************/ |
|
352 |
||
353 |
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
|
354 |
{ |
972 | 355 |
open(Read); |
356 |
||
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
357 |
if (slavePosition == -1) { |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
358 |
unsigned int numSlaves = slaveCount(), i; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
359 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
360 |
for (i = 0; i < numSlaves; i++) { |
966 | 361 |
listSlaveSdos(i, quiet, true); |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
362 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
363 |
} else { |
966 | 364 |
listSlaveSdos(slavePosition, quiet, false); |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
365 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
366 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
367 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
368 |
/****************************************************************************/ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
369 |
|
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
370 |
void Master::sdoDownload( |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
371 |
int slavePosition, |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
372 |
const string &dataTypeStr, |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
373 |
const vector<string> &commandArgs |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
374 |
) |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
375 |
{ |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
376 |
stringstream strIndex, strSubIndex, strValue, err; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
377 |
int number, sval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
378 |
ec_ioctl_sdo_download_t data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
379 |
unsigned int i, uval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
380 |
const CoEDataType *dataType = NULL; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
381 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
382 |
if (slavePosition < 0) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
383 |
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
|
384 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
385 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
386 |
data.slave_position = slavePosition; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
387 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
388 |
if (commandArgs.size() != 3) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
389 |
err << "'sdo_download' takes 3 arguments!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
390 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
391 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
392 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
393 |
strIndex << commandArgs[0]; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
394 |
strIndex >> hex >> number; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
395 |
if (strIndex.fail() || number < 0x0000 || number > 0xffff) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
396 |
err << "Invalid Sdo index '" << commandArgs[0] << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
397 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
398 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
399 |
data.sdo_index = number; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
400 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
401 |
strSubIndex << commandArgs[1]; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
402 |
strSubIndex >> hex >> number; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
403 |
if (strSubIndex.fail() || number < 0x00 || number > 0xff) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
404 |
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
405 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
406 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
407 |
data.sdo_entry_subindex = number; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
408 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
409 |
if (dataTypeStr != "") { // data type specified |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
410 |
if (!(dataType = findDataType(dataTypeStr))) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
411 |
err << "Invalid data type '" << dataTypeStr << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
412 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
413 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
414 |
} 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
|
415 |
ec_ioctl_sdo_entry_t entry; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
416 |
unsigned int entryByteSize; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
417 |
|
982
861eb2810f56
Open device with correct permissions immediately.
Florian Pose <fp@igh-essen.com>
parents:
980
diff
changeset
|
418 |
open(ReadWrite); |
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
419 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
420 |
try { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
421 |
getSdoEntry(&entry, slavePosition, |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
422 |
data.sdo_index, data.sdo_entry_subindex); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
423 |
} catch (MasterException &e) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
424 |
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
|
425 |
<< "Please specify --type."; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
426 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
427 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
428 |
if (!(dataType = findDataType(entry.data_type))) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
429 |
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
|
430 |
<< 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
|
431 |
<< " Please specify --type."; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
432 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
433 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
434 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
435 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
436 |
if (dataType->byteSize) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
437 |
data.data_size = dataType->byteSize; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
438 |
} else { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
439 |
data.data_size = DefaultBufferSize; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
440 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
441 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
442 |
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
|
443 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
444 |
strValue << commandArgs[2]; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
445 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
446 |
switch (dataType->coeCode) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
447 |
case 0x0002: // int8 |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
448 |
strValue >> sval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
449 |
if ((uint32_t) sval > 0xff) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
450 |
delete [] data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
451 |
err << "Invalid value for type '" |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
452 |
<< dataType->name << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
453 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
454 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
455 |
*data.data = (int8_t) sval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
456 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
457 |
case 0x0003: // int16 |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
458 |
strValue >> sval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
459 |
if ((uint32_t) sval > 0xffff) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
460 |
delete [] data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
461 |
err << "Invalid value for type '" |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
462 |
<< dataType->name << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
463 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
464 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
465 |
*(int16_t *) data.data = cputole16(sval); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
466 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
467 |
case 0x0004: // int32 |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
468 |
strValue >> sval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
469 |
*(int32_t *) data.data = cputole32(sval); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
470 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
471 |
case 0x0005: // uint8 |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
472 |
strValue >> uval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
473 |
if ((uint32_t) uval > 0xff) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
474 |
delete [] data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
475 |
err << "Invalid value for type '" |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
476 |
<< dataType->name << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
477 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
478 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
479 |
*data.data = (uint8_t) uval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
480 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
481 |
case 0x0006: // uint16 |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
482 |
strValue >> uval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
483 |
if ((uint32_t) uval > 0xffff) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
484 |
delete [] data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
485 |
err << "Invalid value for type '" |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
486 |
<< dataType->name << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
487 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
488 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
489 |
*(uint16_t *) data.data = cputole16(uval); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
490 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
491 |
case 0x0007: // uint32 |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
492 |
strValue >> uval; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
493 |
*(uint32_t *) data.data = cputole32(uval); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
494 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
495 |
case 0x0009: // string |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
496 |
if (strValue.str().size() >= data.data_size) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
497 |
err << "String too big"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
498 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
499 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
500 |
data.data_size = strValue.str().size(); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
501 |
strValue >> (char *) data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
502 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
503 |
default: |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
504 |
break; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
505 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
506 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
507 |
if (strValue.fail()) { |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
508 |
err << "Invalid value argument '" << commandArgs[2] << "'!"; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
509 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
510 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
511 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
512 |
open(ReadWrite); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
513 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
514 |
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
|
515 |
stringstream err; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
516 |
err << "Failed to download Sdo: " << strerror(errno); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
517 |
delete [] data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
518 |
throw MasterException(err.str()); |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
519 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
520 |
|
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
521 |
delete [] data.data; |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
522 |
} |
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
523 |
|
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 |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
526 |
void Master::sdoUpload( |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
527 |
int slavePosition, |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
528 |
const string &dataTypeStr, |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
529 |
const vector<string> &commandArgs |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
530 |
) |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
531 |
{ |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
532 |
stringstream strIndex, strSubIndex; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
533 |
int number, sval; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
534 |
ec_ioctl_sdo_upload_t data; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
535 |
unsigned int i, uval; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
536 |
const CoEDataType *dataType = NULL; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
537 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
538 |
if (slavePosition < 0) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
539 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
540 |
err << "'sdo_upload' requires a slave! Please specify --slave."; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
541 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
542 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
543 |
data.slave_position = slavePosition; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
544 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
545 |
if (commandArgs.size() != 2) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
546 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
547 |
err << "'sdo_upload' takes two arguments!"; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
548 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
549 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
550 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
551 |
strIndex << commandArgs[0]; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
552 |
strIndex >> hex >> number; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
553 |
if (strIndex.fail() || number < 0x0000 || number > 0xffff) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
554 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
555 |
err << "Invalid Sdo index '" << commandArgs[0] << "'!"; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
556 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
557 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
558 |
data.sdo_index = number; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
559 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
560 |
strSubIndex << commandArgs[1]; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
561 |
strSubIndex >> hex >> number; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
562 |
if (strSubIndex.fail() || number < 0x00 || number > 0xff) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
563 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
564 |
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
565 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
566 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
567 |
data.sdo_entry_subindex = number; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
568 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
569 |
if (dataTypeStr != "") { // data type specified |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
570 |
if (!(dataType = findDataType(dataTypeStr))) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
571 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
572 |
err << "Invalid data type '" << dataTypeStr << "'!"; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
573 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
574 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
575 |
} else { // no data type specified: fetch from dictionary |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
576 |
ec_ioctl_sdo_entry_t entry; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
577 |
unsigned int entryByteSize; |
972 | 578 |
|
579 |
open(Read); |
|
580 |
||
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
581 |
try { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
582 |
getSdoEntry(&entry, slavePosition, |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
583 |
data.sdo_index, data.sdo_entry_subindex); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
584 |
} catch (MasterException &e) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
585 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
586 |
err << "Failed to determine Sdo entry data type. " |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
587 |
<< "Please specify --type."; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
588 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
589 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
590 |
if (!(dataType = findDataType(entry.data_type))) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
591 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
592 |
err << "Pdo entry has unknown data type 0x" |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
593 |
<< hex << setfill('0') << setw(4) << entry.data_type << "!" |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
594 |
<< " Please specify --type."; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
595 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
596 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
597 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
598 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
599 |
if (dataType->byteSize) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
600 |
data.target_size = dataType->byteSize; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
601 |
} else { |
974
5868944a6456
Implemented Sdo download via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
972
diff
changeset
|
602 |
data.target_size = DefaultBufferSize; |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
603 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
604 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
605 |
data.target = new uint8_t[data.target_size + 1]; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
606 |
|
972 | 607 |
open(Read); |
608 |
||
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
609 |
if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
610 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
611 |
err << "Failed to upload Sdo: " << strerror(errno); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
612 |
delete [] data.target; |
972 | 613 |
close(); |
614 |
throw MasterException(err.str()); |
|
615 |
} |
|
616 |
||
617 |
close(); |
|
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
618 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
619 |
if (dataType->byteSize && data.data_size != dataType->byteSize) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
620 |
stringstream err; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
621 |
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
|
622 |
<< " with " << dataType->byteSize << " byte, but got " |
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
623 |
<< data.data_size << " byte."; |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
624 |
throw MasterException(err.str()); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
625 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
626 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
627 |
cout << setfill('0'); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
628 |
switch (dataType->coeCode) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
629 |
case 0x0002: // int8 |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
630 |
sval = *(int8_t *) data.target; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
631 |
cout << sval << " 0x" << hex << setw(2) << sval << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
632 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
633 |
case 0x0003: // int16 |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
634 |
sval = le16tocpu(*(int16_t *) data.target); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
635 |
cout << sval << " 0x" << hex << setw(4) << sval << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
636 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
637 |
case 0x0004: // int32 |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
638 |
sval = le32tocpu(*(int32_t *) data.target); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
639 |
cout << sval << " 0x" << hex << setw(8) << sval << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
640 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
641 |
case 0x0005: // uint8 |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
642 |
uval = (unsigned int) *(uint8_t *) data.target; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
643 |
cout << uval << " 0x" << hex << setw(2) << uval << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
644 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
645 |
case 0x0006: // uint16 |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
646 |
uval = le16tocpu(*(uint16_t *) data.target); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
647 |
cout << uval << " 0x" << hex << setw(4) << uval << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
648 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
649 |
case 0x0007: // uint32 |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
650 |
uval = le32tocpu(*(uint32_t *) data.target); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
651 |
cout << uval << " 0x" << hex << setw(8) << uval << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
652 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
653 |
case 0x0009: // string |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
654 |
cout << string((const char *) data.target, data.data_size) |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
655 |
<< endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
656 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
657 |
default: |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
658 |
printRawData(data.target, data.data_size); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
659 |
break; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
660 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
661 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
662 |
delete [] data.target; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
663 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
664 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
665 |
/****************************************************************************/ |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
666 |
|
978 | 667 |
void Master::siiRead(int slavePosition) |
668 |
{ |
|
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
669 |
ec_ioctl_sii_t data; |
978 | 670 |
ec_ioctl_slave_t slave; |
671 |
unsigned int i; |
|
672 |
||
673 |
if (slavePosition < 0) { |
|
674 |
stringstream err; |
|
675 |
err << "'sii_read' requires a slave! Please specify --slave."; |
|
676 |
throw MasterException(err.str()); |
|
677 |
} |
|
678 |
data.slave_position = slavePosition; |
|
679 |
||
680 |
open(Read); |
|
681 |
||
682 |
getSlave(&slave, slavePosition); |
|
683 |
||
684 |
if (!slave.sii_nwords) |
|
685 |
return; |
|
686 |
||
687 |
data.offset = 0; |
|
688 |
data.nwords = slave.sii_nwords; |
|
689 |
data.words = new uint16_t[data.nwords]; |
|
690 |
||
691 |
if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) { |
|
692 |
stringstream err; |
|
693 |
delete [] data.words; |
|
694 |
err << "Failed to read SII: " << strerror(errno); |
|
695 |
throw MasterException(err.str()); |
|
696 |
} |
|
697 |
||
698 |
for (i = 0; i < data.nwords; i++) { |
|
699 |
uint16_t *w = data.words + i; |
|
700 |
cout << *(uint8_t *) w << *((uint8_t *) w + 1); |
|
701 |
} |
|
702 |
||
703 |
delete [] data.words; |
|
704 |
} |
|
705 |
||
706 |
/****************************************************************************/ |
|
707 |
||
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
708 |
void Master::siiWrite( |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
709 |
int slavePosition, |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
710 |
bool force, |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
711 |
const vector<string> &commandArgs |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
712 |
) |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
713 |
{ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
714 |
stringstream err; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
715 |
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
|
716 |
ifstream file; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
717 |
unsigned int byte_size; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
718 |
const uint16_t *categoryHeader; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
719 |
uint16_t categoryType, categorySize; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
720 |
uint8_t crc; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
721 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
722 |
if (slavePosition < 0) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
723 |
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
|
724 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
725 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
726 |
data.slave_position = slavePosition; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
727 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
728 |
if (commandArgs.size() != 1) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
729 |
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
|
730 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
731 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
732 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
733 |
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
|
734 |
if (file.fail()) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
735 |
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
|
736 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
737 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
738 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
739 |
// get length of file |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
740 |
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
|
741 |
byte_size = file.tellg(); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
742 |
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
|
743 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
744 |
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
|
745 |
stringstream err; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
746 |
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
|
747 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
748 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
749 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
750 |
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
|
751 |
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
|
752 |
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
|
753 |
" 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
|
754 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
755 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
756 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
757 |
// 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
|
758 |
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
|
759 |
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
|
760 |
file.close(); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
761 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
762 |
if (!force) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
763 |
// 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
|
764 |
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
|
765 |
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
|
766 |
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
|
767 |
<< 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
|
768 |
<< ". 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
|
769 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
770 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
771 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
772 |
// 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
|
773 |
categoryHeader = data.words + 0x0040; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
774 |
categoryType = le16tocpu(*categoryHeader); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
775 |
while (categoryType != 0xffff) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
776 |
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
|
777 |
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
|
778 |
<< "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
|
779 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
780 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
781 |
categorySize = le16tocpu(*(categoryHeader + 1)); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
782 |
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
|
783 |
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
|
784 |
"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
|
785 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
786 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
787 |
categoryHeader += categorySize + 2; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
788 |
categoryType = le16tocpu(*categoryHeader); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
789 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
790 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
791 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
792 |
// send data to master |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
793 |
open(ReadWrite); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
794 |
data.offset = 0; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
795 |
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
|
796 |
stringstream err; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
797 |
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
|
798 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
799 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
800 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
801 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
802 |
/****************************************************************************/ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
803 |
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
804 |
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
|
805 |
int slavePosition, |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
806 |
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
|
807 |
) |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
808 |
{ |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
809 |
string stateStr; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
810 |
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
|
811 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
812 |
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
|
813 |
stringstream err; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
814 |
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
|
815 |
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
|
816 |
} |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
817 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
818 |
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
|
819 |
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
|
820 |
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
|
821 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
822 |
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
|
823 |
state = 0x01; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
824 |
} 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
|
825 |
state = 0x02; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
826 |
} 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
|
827 |
state = 0x04; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
828 |
} 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
|
829 |
state = 0x08; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
830 |
} else { |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
831 |
stringstream err; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
832 |
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
|
833 |
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
|
834 |
} |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
835 |
|
972 | 836 |
open(ReadWrite); |
837 |
||
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
838 |
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
|
839 |
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
|
840 |
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
|
841 |
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
|
842 |
} else { |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
843 |
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
|
844 |
} |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
845 |
} |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
846 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
847 |
/****************************************************************************/ |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
848 |
|
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
849 |
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
|
850 |
{ |
972 | 851 |
open(Read); |
852 |
||
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
853 |
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
|
854 |
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
|
855 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
856 |
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
|
857 |
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
|
858 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
859 |
} else { |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
860 |
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
|
861 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
862 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
863 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
864 |
/****************************************************************************/ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
865 |
|
972 | 866 |
void Master::open(Permissions perm) |
867 |
{ |
|
868 |
stringstream deviceName; |
|
869 |
||
870 |
if (fd != -1) { // already open |
|
982
861eb2810f56
Open device with correct permissions immediately.
Florian Pose <fp@igh-essen.com>
parents:
980
diff
changeset
|
871 |
return; |
972 | 872 |
} |
873 |
||
874 |
deviceName << "/dev/EtherCAT" << index; |
|
875 |
||
876 |
if ((fd = ::open(deviceName.str().c_str(), |
|
877 |
perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) { |
|
878 |
stringstream err; |
|
879 |
err << "Failed to open master device " << deviceName.str() << ": " |
|
880 |
<< strerror(errno); |
|
881 |
throw MasterException(err.str()); |
|
882 |
} |
|
883 |
} |
|
884 |
||
885 |
/****************************************************************************/ |
|
886 |
||
887 |
void Master::close() |
|
888 |
{ |
|
889 |
if (fd == -1) |
|
890 |
return; |
|
891 |
||
892 |
::close(fd); |
|
982
861eb2810f56
Open device with correct permissions immediately.
Florian Pose <fp@igh-essen.com>
parents:
980
diff
changeset
|
893 |
fd = -1; |
972 | 894 |
} |
895 |
||
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
896 |
/*****************************************************************************/ |
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 |
* 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
|
900 |
*/ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
901 |
void Master::writeSlaveAlias( |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
902 |
uint16_t slavePosition, |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
903 |
uint16_t alias |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
904 |
) |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
905 |
{ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
906 |
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
|
907 |
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
|
908 |
stringstream err; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
909 |
uint8_t crc; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
910 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
911 |
open(ReadWrite); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
912 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
913 |
getSlave(&slave, slavePosition); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
914 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
915 |
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
|
916 |
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
|
917 |
<< "(" << slave.sii_nwords << " words)!"; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
918 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
919 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
920 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
921 |
data.slave_position = slavePosition; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
922 |
data.offset = 0; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
923 |
data.nwords = 8; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
924 |
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
|
925 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
926 |
// 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
|
927 |
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
|
928 |
delete [] data.words; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
929 |
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
|
930 |
throw MasterException(err.str()); |
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 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
933 |
// 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
|
934 |
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
|
935 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
936 |
// 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
|
937 |
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
|
938 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
939 |
// 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
|
940 |
*(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
|
941 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
942 |
// 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
|
943 |
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
|
944 |
delete [] data.words; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
945 |
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
|
946 |
throw MasterException(err.str()); |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
947 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
948 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
949 |
delete [] data.words; |
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 |
|
972 | 952 |
/****************************************************************************/ |
953 |
||
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
954 |
void Master::outputDomainData(unsigned int domainIndex) |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
955 |
{ |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
956 |
ec_ioctl_domain_t domain; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
957 |
ec_ioctl_data_t data; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
958 |
unsigned char *processData; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
959 |
unsigned int i; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
960 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
961 |
getDomain(&domain, domainIndex); |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
962 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
963 |
if (!domain.data_size) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
964 |
return; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
965 |
|
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
966 |
processData = new unsigned char[domain.data_size]; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
967 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
968 |
try { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
969 |
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
|
970 |
} catch (MasterException &e) { |
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
971 |
delete [] processData; |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
972 |
throw e; |
949
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
973 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
974 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
975 |
for (i = 0; i < data.data_size; i++) |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
976 |
cout << processData[i]; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
977 |
cout.flush(); |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
978 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
979 |
delete [] processData; |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
980 |
} |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
981 |
|
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
982 |
/****************************************************************************/ |
e424c0074c67
Implemented 'data' command.
Florian Pose <fp@igh-essen.com>
parents:
948
diff
changeset
|
983 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
984 |
void Master::showDomain(unsigned int domainIndex) |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
985 |
{ |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
986 |
ec_ioctl_domain_t domain; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
987 |
unsigned char *processData; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
988 |
ec_ioctl_data_t data; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
989 |
unsigned int i, j; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
990 |
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
|
991 |
unsigned int dataOffset; |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
992 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
993 |
getDomain(&domain, domainIndex); |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
994 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
995 |
cout << "Domain" << domainIndex << ":" |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
996 |
<< " LogBaseAddr 0x" |
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
997 |
<< 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
|
998 |
<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
999 |
<< ", WorkingCounter " |
951
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
1000 |
<< dec << domain.working_counter << "/" |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
1001 |
<< 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
|
1002 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1003 |
if (!domain.data_size) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1004 |
return; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1005 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1006 |
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
|
1007 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1008 |
try { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1009 |
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
|
1010 |
} catch (MasterException &e) { |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1011 |
delete [] processData; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1012 |
throw e; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1013 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1014 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1015 |
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
|
1016 |
getFmmu(&fmmu, domainIndex, i); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1017 |
|
951
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
1018 |
cout << " SlaveConfig " |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
1019 |
<< fmmu.slave_config_alias << ":" << fmmu.slave_config_position |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
1020 |
<< ", Dir " |
dc84a0af63da
Improved output of 'ethercat domain'.
Florian Pose <fp@igh-essen.com>
parents:
950
diff
changeset
|
1021 |
<< 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
|
1022 |
<< ", LogAddr 0x" |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1023 |
<< 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
|
1024 |
<< ", 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
|
1025 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1026 |
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
|
1027 |
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
|
1028 |
stringstream err; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1029 |
err << "Fmmu information corrupted!"; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1030 |
delete [] processData; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1031 |
throw MasterException(err.str()); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1032 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1033 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1034 |
cout << " " << hex << setfill('0'); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1035 |
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
|
1036 |
cout << setw(2) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1037 |
<< (unsigned int) *(processData + dataOffset + j) << " "; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1038 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1039 |
cout << endl; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1040 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1041 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1042 |
delete [] processData; |
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1043 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1044 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1045 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1046 |
|
966 | 1047 |
void Master::listSlavePdos( |
1048 |
uint16_t slavePosition, |
|
1049 |
bool quiet, |
|
1050 |
bool withHeader |
|
1051 |
) |
|
936 | 1052 |
{ |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1053 |
ec_ioctl_slave_t slave; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1054 |
ec_ioctl_sync_t sync; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1055 |
ec_ioctl_pdo_t pdo; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1056 |
ec_ioctl_pdo_entry_t entry; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1057 |
unsigned int i, j, k; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1058 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1059 |
getSlave(&slave, slavePosition); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1060 |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1061 |
if (withHeader) |
936 | 1062 |
cout << "=== Slave " << slavePosition << " ===" << endl; |
1063 |
||
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1064 |
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
|
1065 |
getSync(&sync, slavePosition, i); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1066 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1067 |
cout << "SM" << i << ":" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1068 |
<< " PhysAddr 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1069 |
<< 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
|
1070 |
<< ", DefaultSize " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1071 |
<< dec << setfill(' ') << setw(4) << sync.default_size |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1072 |
<< ", ControlRegister 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1073 |
<< hex << setfill('0') << setw(2) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1074 |
<< (unsigned int) sync.control_register |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1075 |
<< ", Enable " << dec << (unsigned int) sync.enable |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1076 |
<< endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1077 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1078 |
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
|
1079 |
getPdo(&pdo, slavePosition, i, j); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1080 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1081 |
cout << " " << (pdo.dir ? "T" : "R") << "xPdo 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1082 |
<< hex << setfill('0') << setw(4) << pdo.index |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1083 |
<< " \"" << pdo.name << "\"" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1084 |
|
966 | 1085 |
if (quiet) |
1086 |
continue; |
|
1087 |
||
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1088 |
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
|
1089 |
getPdoEntry(&entry, slavePosition, i, j, k); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1090 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1091 |
cout << " Pdo entry 0x" |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1092 |
<< hex << setfill('0') << setw(4) << entry.index |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1093 |
<< ":" << hex << setfill('0') << setw(2) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1094 |
<< (unsigned int) entry.subindex |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1095 |
<< ", " << dec << (unsigned int) entry.bit_length |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1096 |
<< " bit, \"" << entry.name << "\"" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1097 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1098 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1099 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1100 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1101 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1102 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1103 |
|
966 | 1104 |
void Master::listSlaveSdos( |
1105 |
uint16_t slavePosition, |
|
1106 |
bool quiet, |
|
1107 |
bool withHeader |
|
1108 |
) |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1109 |
{ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1110 |
ec_ioctl_slave_t slave; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1111 |
ec_ioctl_sdo_t sdo; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1112 |
ec_ioctl_sdo_entry_t entry; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1113 |
unsigned int i, j, k; |
970
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1114 |
const CoEDataType *d; |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1115 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1116 |
getSlave(&slave, slavePosition); |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1117 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1118 |
if (withHeader) |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1119 |
cout << "=== Slave " << slavePosition << " ===" << endl; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1120 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1121 |
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
|
1122 |
getSdo(&sdo, slavePosition, i); |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1123 |
|
970
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1124 |
cout << "Sdo " |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1125 |
<< 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
|
1126 |
<< ", \"" << sdo.name << "\"" << endl; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1127 |
|
966 | 1128 |
if (quiet) |
1129 |
continue; |
|
1130 |
||
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1131 |
for (j = 0; j <= sdo.max_subindex; j++) { |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1132 |
getSdoEntry(&entry, slavePosition, -i, j); |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1133 |
|
983 | 1134 |
cout << " " << hex << setfill('0') |
1135 |
<< setw(4) << sdo.sdo_index << ":" |
|
1136 |
<< 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
|
1137 |
<< ", "; |
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1138 |
|
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1139 |
if ((d = findDataType(entry.data_type))) { |
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1140 |
cout << d->name; |
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1141 |
} else { |
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1142 |
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
|
1143 |
} |
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1144 |
|
b7cbff36bc01
Display textual data type in 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
968
diff
changeset
|
1145 |
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
|
1146 |
<< entry.description << "\"" << endl; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1147 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1148 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1149 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1150 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1151 |
/****************************************************************************/ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1152 |
|
938
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1153 |
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
|
1154 |
{ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1155 |
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
|
1156 |
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
|
1157 |
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
|
1158 |
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
|
1159 |
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
|
1160 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1161 |
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
|
1162 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1163 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1164 |
<< "<?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
|
1165 |
<< " <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
|
1166 |
<< " <!-- 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
|
1167 |
<< " <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
|
1168 |
<< " <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
|
1169 |
<< " </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
|
1170 |
<< " <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
|
1171 |
<< " <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
|
1172 |
<< " <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
|
1173 |
<< " <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
|
1174 |
<< 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
|
1175 |
<< "\" 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
|
1176 |
<< 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
|
1177 |
<< "\"/>" << endl; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1178 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1179 |
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
|
1180 |
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
|
1181 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1182 |
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
|
1183 |
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
|
1184 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1185 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1186 |
<< " <" << (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
|
1187 |
<< " <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
|
1188 |
<< 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
|
1189 |
<< "</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
|
1190 |
<< " <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
|
1191 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1192 |
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
|
1193 |
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
|
1194 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1195 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1196 |
<< " <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
|
1197 |
<< " <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
|
1198 |
<< 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
|
1199 |
<< "</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
|
1200 |
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
|
1201 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1202 |
<< " <SubIndex>" |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1203 |
<< 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
|
1204 |
<< "</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
|
1205 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1206 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1207 |
<< " <BitLen>" |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1208 |
<< (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
|
1209 |
<< "</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
|
1210 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1211 |
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
|
1212 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1213 |
<< " <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
|
1214 |
<< "</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
|
1215 |
<< " <DataType>"; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1216 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1217 |
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
|
1218 |
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
|
1219 |
} 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
|
1220 |
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
|
1221 |
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
|
1222 |
else |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1223 |
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
|
1224 |
<< (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
|
1225 |
<< ")"; |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1226 |
} else { |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1227 |
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
|
1228 |
<< (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
|
1229 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1230 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1231 |
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
|
1232 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1233 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1234 |
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
|
1235 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1236 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1237 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1238 |
<< " </" << (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
|
1239 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1240 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1241 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1242 |
cout |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1243 |
<< " </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
|
1244 |
<< " </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
|
1245 |
<< " </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
|
1246 |
<< "</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
|
1247 |
} |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1248 |
|
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1249 |
/****************************************************************************/ |
5b936e8e39fa
Added 'xml' command to generate a slave description file from a real
Florian Pose <fp@igh-essen.com>
parents:
936
diff
changeset
|
1250 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1251 |
unsigned int Master::domainCount() |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1252 |
{ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1253 |
int ret; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1254 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1255 |
if ((ret = ioctl(fd, EC_IOCTL_DOMAIN_COUNT, 0)) < 0) { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1256 |
stringstream err; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1257 |
err << "Failed to get number of domains: " << strerror(errno); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1258 |
throw MasterException(err.str()); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1259 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1260 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1261 |
return ret; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1262 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1263 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1264 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1265 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1266 |
unsigned int Master::slaveCount() |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1267 |
{ |
957
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1268 |
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
|
1269 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1270 |
getMaster(&data); |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1271 |
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
|
1272 |
} |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1273 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1274 |
/****************************************************************************/ |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1275 |
|
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1276 |
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
|
1277 |
{ |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1278 |
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
|
1279 |
stringstream err; |
ed5ac2e83495
Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented
Florian Pose <fp@igh-essen.com>
parents:
956
diff
changeset
|
1280 |
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
|
1281 |
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
|
1282 |
} |
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1283 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1284 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1285 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1286 |
|
948
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1287 |
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
|
1288 |
{ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1289 |
data->index = index; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1290 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1291 |
if (ioctl(fd, EC_IOCTL_DOMAIN, data)) { |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1292 |
stringstream err; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1293 |
err << "Failed to get domain: "; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1294 |
if (errno == EINVAL) |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1295 |
err << "Domain " << index << " does not exist!"; |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1296 |
else |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1297 |
err << strerror(errno); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1298 |
throw MasterException(err.str()); |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1299 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1300 |
} |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1301 |
|
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1302 |
/****************************************************************************/ |
1cfab7161491
Implemented domain command.
Florian Pose <fp@igh-essen.com>
parents:
938
diff
changeset
|
1303 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1304 |
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
|
1305 |
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
|
1306 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1307 |
data->domain_index = domainIndex; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1308 |
data->data_size = dataSize; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1309 |
data->target = mem; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1310 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1311 |
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
|
1312 |
stringstream err; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1313 |
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
|
1314 |
throw MasterException(err.str()); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1315 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1316 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1317 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1318 |
/****************************************************************************/ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1319 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1320 |
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
|
1321 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1322 |
slave->position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1323 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1324 |
if (ioctl(fd, EC_IOCTL_SLAVE, slave)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1325 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1326 |
err << "Failed to get slave: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1327 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1328 |
err << "Slave " << slaveIndex << " does not exist!"; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1329 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1330 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1331 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1332 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1333 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1334 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1335 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1336 |
|
950
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1337 |
void Master::getFmmu( |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1338 |
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
|
1339 |
unsigned int domainIndex, |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1340 |
unsigned int fmmuIndex |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1341 |
) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1342 |
{ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1343 |
fmmu->domain_index = domainIndex; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1344 |
fmmu->fmmu_index = fmmuIndex; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1345 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1346 |
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
|
1347 |
stringstream err; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1348 |
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
|
1349 |
if (errno == EINVAL) |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1350 |
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
|
1351 |
<< "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
|
1352 |
<< " FMMus!"; |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1353 |
else |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1354 |
err << strerror(errno); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1355 |
throw MasterException(err.str()); |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1356 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1357 |
} |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1358 |
|
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1359 |
/****************************************************************************/ |
8b00e63fff90
'ethercat domain' shows domain contents and process data.
Florian Pose <fp@igh-essen.com>
parents:
949
diff
changeset
|
1360 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1361 |
void Master::getSync( |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1362 |
ec_ioctl_sync_t *sync, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1363 |
uint16_t slaveIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1364 |
uint8_t syncIndex |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1365 |
) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1366 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1367 |
sync->slave_position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1368 |
sync->sync_index = syncIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1369 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1370 |
if (ioctl(fd, EC_IOCTL_SYNC, sync)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1371 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1372 |
err << "Failed to get sync manager: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1373 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1374 |
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
|
1375 |
<< "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
|
1376 |
<< " sync managers!"; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1377 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1378 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1379 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1380 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1381 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1382 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1383 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1384 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1385 |
void Master::getPdo( |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1386 |
ec_ioctl_pdo_t *pdo, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1387 |
uint16_t slaveIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1388 |
uint8_t syncIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1389 |
uint8_t pdoPos |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1390 |
) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1391 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1392 |
pdo->slave_position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1393 |
pdo->sync_index = syncIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1394 |
pdo->pdo_pos = pdoPos; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1395 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1396 |
if (ioctl(fd, EC_IOCTL_PDO, pdo)) { |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1397 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1398 |
err << "Failed to get Pdo: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1399 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1400 |
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
|
1401 |
<< "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
|
1402 |
<< " sync managers, or sync manager " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1403 |
<< (unsigned int) syncIndex << " contains less than " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1404 |
<< pdoPos + 1 << " Pdos!" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1405 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1406 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1407 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1408 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1409 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1410 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1411 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1412 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1413 |
void Master::getPdoEntry( |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1414 |
ec_ioctl_pdo_entry_t *entry, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1415 |
uint16_t slaveIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1416 |
uint8_t syncIndex, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1417 |
uint8_t pdoPos, |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1418 |
uint8_t entryPos |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1419 |
) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1420 |
{ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1421 |
entry->slave_position = slaveIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1422 |
entry->sync_index = syncIndex; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1423 |
entry->pdo_pos = pdoPos; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1424 |
entry->entry_pos = entryPos; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1425 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1426 |
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
|
1427 |
stringstream err; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1428 |
err << "Failed to get Pdo entry: "; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1429 |
if (errno == EINVAL) |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1430 |
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
|
1431 |
<< "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
|
1432 |
<< " sync managers, or sync manager " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1433 |
<< (unsigned int) syncIndex << " contains less than " |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1434 |
<< 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
|
1435 |
<< " contains less than " << (unsigned int) entryPos + 1 |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1436 |
<< " entries!" << endl; |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1437 |
else |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1438 |
err << strerror(errno); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1439 |
throw MasterException(err.str()); |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1440 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1441 |
} |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1442 |
|
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1443 |
/****************************************************************************/ |
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1444 |
|
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1445 |
void Master::getSdo( |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1446 |
ec_ioctl_sdo_t *sdo, |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1447 |
uint16_t slaveIndex, |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1448 |
uint16_t sdoPosition |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1449 |
) |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1450 |
{ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1451 |
sdo->slave_position = slaveIndex; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1452 |
sdo->sdo_position = sdoPosition; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1453 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1454 |
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
|
1455 |
stringstream err; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1456 |
err << "Failed to get Sdo: "; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1457 |
if (errno == EINVAL) |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1458 |
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
|
1459 |
<< "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
|
1460 |
<< endl; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1461 |
else |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1462 |
err << strerror(errno); |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1463 |
throw MasterException(err.str()); |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1464 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1465 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1466 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1467 |
/****************************************************************************/ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1468 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1469 |
void Master::getSdoEntry( |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1470 |
ec_ioctl_sdo_entry_t *entry, |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1471 |
uint16_t slaveIndex, |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1472 |
int sdoSpec, |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1473 |
uint8_t entrySubindex |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1474 |
) |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1475 |
{ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1476 |
entry->slave_position = slaveIndex; |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1477 |
entry->sdo_spec = sdoSpec; |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1478 |
entry->sdo_entry_subindex = entrySubindex; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1479 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1480 |
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
|
1481 |
stringstream err; |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1482 |
err << "Failed to get Sdo entry: "; |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1483 |
err << strerror(errno); |
965
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1484 |
throw MasterException(err.str()); |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1485 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1486 |
} |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1487 |
|
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1488 |
/****************************************************************************/ |
1aee4aa1def3
Implemented Sdo dictionary info via 'ethercat sdos'.
Florian Pose <fp@igh-essen.com>
parents:
960
diff
changeset
|
1489 |
|
960
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1490 |
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
|
1491 |
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
|
1492 |
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
|
1493 |
) |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1494 |
{ |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1495 |
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
|
1496 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1497 |
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
|
1498 |
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
|
1499 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1500 |
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
|
1501 |
stringstream err; |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1502 |
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
|
1503 |
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
|
1504 |
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
|
1505 |
else |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1506 |
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
|
1507 |
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
|
1508 |
} |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1509 |
} |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1510 |
|
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1511 |
/****************************************************************************/ |
36e460ffbb5e
Request slave state(s) with 'ethercat state'; removed sysfs state file.
Florian Pose <fp@igh-essen.com>
parents:
957
diff
changeset
|
1512 |
|
935
b954e9d91ea5
Added 'pdos' command to ethercat tool.
Florian Pose <fp@igh-essen.com>
parents:
922
diff
changeset
|
1513 |
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
|
1514 |
{ |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1515 |
switch (state) { |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1516 |
case 1: return "INIT"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1517 |
case 2: return "PREOP"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1518 |
case 4: return "SAFEOP"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1519 |
case 8: return "OP"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1520 |
default: return "???"; |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1521 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1522 |
} |
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1523 |
|
fede1d8f5b71
Added the new ethercat comman-line tool with lsec functionality.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
1524 |
/****************************************************************************/ |
968
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1525 |
|
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1526 |
void Master::printRawData( |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1527 |
const uint8_t *data, |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1528 |
unsigned int size) |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1529 |
{ |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1530 |
cout << hex << setfill('0'); |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1531 |
while (size--) { |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1532 |
cout << "0x" << setw(2) << (unsigned int) *data++; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1533 |
if (size) |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1534 |
cout << " "; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1535 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1536 |
cout << endl; |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1537 |
} |
b0e894257743
Implemented sdo_upload command.
Florian Pose <fp@igh-essen.com>
parents:
966
diff
changeset
|
1538 |
|
980
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1539 |
/*****************************************************************************/ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1540 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1541 |
/** |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1542 |
* 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
|
1543 |
* |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1544 |
* 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
|
1545 |
* 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
|
1546 |
* |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1547 |
* 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
|
1548 |
* 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
|
1549 |
* |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1550 |
* ./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
|
1551 |
* --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
|
1552 |
* |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1553 |
* \return CRC8 |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1554 |
*/ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1555 |
uint8_t Master::calcSiiCrc( |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1556 |
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
|
1557 |
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
|
1558 |
) |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1559 |
{ |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1560 |
unsigned int i; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1561 |
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
|
1562 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1563 |
while (length--) { |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1564 |
byte = *data++; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1565 |
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
|
1566 |
bit = crc & 0x80; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1567 |
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
|
1568 |
if (bit) crc ^= 0x07; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1569 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1570 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1571 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1572 |
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
|
1573 |
bit = crc & 0x80; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1574 |
crc <<= 1; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1575 |
if (bit) crc ^= 0x07; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1576 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1577 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1578 |
return crc; |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1579 |
} |
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1580 |
|
c07dd38243ba
Implemented SII writing (including alias writing) via ethercat command.
Florian Pose <fp@igh-essen.com>
parents:
978
diff
changeset
|
1581 |
/*****************************************************************************/ |