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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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#ifndef __MASTER_DEVICE_H__

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#define __MASTER_DEVICE_H__

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#include <stdexcept>

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#include <sstream>

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using namespace std;

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#include "ecrt.h"

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#include "ioctl.h"

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

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class MasterDeviceException:

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    public runtime_error

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{

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    friend class MasterDevice;

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    protected:

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        /** Constructor with string parameter. */

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        MasterDeviceException(

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                const string &s /**< Message. */

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                ): runtime_error(s) {}

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        /** Constructor with stringstream parameter. */

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        MasterDeviceException(

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                const stringstream &s /**< Message. */

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                ): runtime_error(s.str()) {}

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};

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

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class MasterDeviceSdoAbortException:

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    public MasterDeviceException 

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{

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    friend class MasterDevice;

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    public:

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        uint32_t abortCode;

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    protected:

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        /** Constructor with abort code parameter. */

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        MasterDeviceSdoAbortException(uint32_t code):

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            MasterDeviceException("SDO transfer aborted.") {

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                abortCode = code;

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            };

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};

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

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class MasterDeviceSoeException:

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    public MasterDeviceException 

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{

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    friend class MasterDevice;

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    public:

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        uint16_t errorCode;

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    protected:

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        /** Constructor with error code parameter. */

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        MasterDeviceSoeException(uint16_t code):

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            MasterDeviceException("SoE transfer aborted.") {

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                errorCode = code;

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            };

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};

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

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class MasterDevice

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{

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    public:

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        MasterDevice(unsigned int = 0U);

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        ~MasterDevice();

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        void setIndex(unsigned int);

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        unsigned int getIndex() const;

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        enum Permissions {Read, ReadWrite};

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        void open(Permissions);

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        void close();

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        void getModule(ec_ioctl_module_t *);

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        void getMaster(ec_ioctl_master_t *);

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        void getConfig(ec_ioctl_config_t *, unsigned int);

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        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

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                uint16_t);

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        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

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                uint8_t, uint16_t, uint8_t);

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        void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);

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        void getDomain(ec_ioctl_domain_t *, unsigned int);

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        void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);

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        void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

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                unsigned char *);

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        void getSlave(ec_ioctl_slave_t *, uint16_t);

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        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);

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        void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);

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        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

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                uint8_t, uint8_t);

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        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);

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        void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);

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        void readSii(ec_ioctl_slave_sii_t *);

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        void writeSii(ec_ioctl_slave_sii_t *);

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        void readReg(ec_ioctl_slave_reg_t *);

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        void writeReg(ec_ioctl_slave_reg_t *);

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        void setDebug(unsigned int);

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        void rescan();

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        void sdoDownload(ec_ioctl_slave_sdo_download_t *);

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        void sdoUpload(ec_ioctl_slave_sdo_upload_t *);

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        void requestState(uint16_t, uint8_t);

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        void readFoe(ec_ioctl_slave_foe_t *);

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        void writeFoe(ec_ioctl_slave_foe_t *);

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#ifdef EC_EOE

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        void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);

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#endif

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        void readSoe(ec_ioctl_slave_soe_read_t *);

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        void writeSoe(ec_ioctl_slave_soe_write_t *);

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        unsigned int getMasterCount() const {return masterCount;}

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    private:

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        unsigned int index;

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        unsigned int masterCount;

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        int fd;

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};

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

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inline unsigned int MasterDevice::getIndex() const

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{

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    return index;

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}

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

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#endif