etherlabmaster: tools/Master.cpp@af0b187de6ef (annotated)

922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <sys/types.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	#include <sys/stat.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <fcntl.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <errno.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include <sys/ioctl.h>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	12
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include <iostream>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include <iomanip>
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include <sstream>
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	16	#include <fstream>
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	17	#include <cctype> // toupper()
988 a47c5a3c143d Improved 'ethercat ls' formatting. Florian Pose <fp@igh-essen.com> parents: 987 diff changeset	18	#include <list>
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	using namespace std;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	20
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	#include "Master.h"
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	22
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	23	#define swap16(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	24	((uint16_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	25	(((uint16_t)(x) & 0x00ffU) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	26	(((uint16_t)(x) & 0xff00U) >> 8) ))
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	27	#define swap32(x) \
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	28	((uint32_t)( \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	29	(((uint32_t)(x) & 0x000000ffUL) << 24) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	30	(((uint32_t)(x) & 0x0000ff00UL) << 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	31	(((uint32_t)(x) & 0x00ff0000UL) >> 8) \| \
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	32	(((uint32_t)(x) & 0xff000000UL) >> 24) ))
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	33
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	34	#if __BYTE_ORDER == __LITTLE_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	35
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	36	#define le16tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	37	#define le32tocpu(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	38
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	39	#define cputole16(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	40	#define cputole32(x) x
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	41
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	42	#elif __BYTE_ORDER == __BIG_ENDIAN
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	43
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	44	#define le16tocpu(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	45	#define le32tocpu(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	46
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	47	#define cputole16(x) swap16(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	48	#define cputole32(x) swap32(x)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	49
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	50	#endif
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	51
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	52	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	53
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	54	struct CoEDataType {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	55	const char *name;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	56	uint16_t coeCode;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	57	unsigned int byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	58	};
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	59
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	60	static const CoEDataType dataTypes[] = {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	61	{"int8", 0x0002, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	62	{"int16", 0x0003, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	63	{"int32", 0x0004, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	64	{"uint8", 0x0005, 1},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	65	{"uint16", 0x0006, 2},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	66	{"uint32", 0x0007, 4},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	67	{"string", 0x0009, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	68	{"raw", 0xffff, 0},
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	69	{}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	70	};
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	71
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	72	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	73
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	74	const CoEDataType *findDataType(const string &str)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	75	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	76	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	77
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	78	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	79	if (str == d->name)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	80	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	81
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	82	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	83	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	84
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	85	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	86
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	87	const CoEDataType *findDataType(uint16_t code)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	88	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	89	const CoEDataType *d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	90
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	91	for (d = dataTypes; d->name; d++)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	92	if (code == d->coeCode)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	93	return d;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	94
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	95	return NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	96	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	97
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	99
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	Master::Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	index = 0;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	103	verbosity = Normal;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	fd = -1;
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	106
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	108
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	Master::~Master()
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	close();
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	113
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	116	void Master::setIndex(unsigned int i)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	117	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	118	index = i;
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	121	/****************************************************************************/
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	122
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	123	void Master::setVerbosity(Verbosity v)
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	124	{
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	125	verbosity = v;
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	126	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	127
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	128	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	129
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	130	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	131	* 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	132	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	133	void Master::writeAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	134	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	135	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	136	const vector<string> &commandArgs
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	137	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	138	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	139	uint16_t alias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	140	stringstream err, strAlias;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	141	int number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	142
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	143	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	144	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	145	err << "'alias' takes exactly one argument!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	146	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	147	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	148
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	149	strAlias << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	150	strAlias
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	151	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	152	>> number;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	153	if (strAlias.fail() \|\| number < 0x0000 \|\| number > 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	154	err << "Invalid alias '" << commandArgs[0] << "'!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	155	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	156	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	157	alias = number;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	158
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	159	if (slavePosition == -1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	160	unsigned int numSlaves, i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	161
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	162	if (!force) {
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	163	err << "This will write the alias addresses of all slaves to "
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	164	<< alias << "! Please specify --force to proceed.";
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	165	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	166	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	167
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	168	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	169	numSlaves = slaveCount();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	170
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	171	for (i = 0; i < numSlaves; i++) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	172	writeSlaveAlias(i, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	173	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	174	} else {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	175	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	176	writeSlaveAlias(slavePosition, alias);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	177	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	178	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	179
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	180	/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	181
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	182	/** Lists the bus configuration.
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	183	*/
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	184	void Master::showConfigs()
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	185	{
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	186	if (verbosity == Verbose) {
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	187	showDetailedConfigs();
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	188	} else {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	189	listConfigs();
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	190	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	191	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	192
922 fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	/****************************************************************************/
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	194
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	195	void Master::outputData(int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	196	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	197	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	198
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	199	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	200	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	201	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	202
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	203	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	204
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	205	for (i = 0; i < master.domain_count; i++) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	206	outputDomainData(i);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	207	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	208	} else {
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	209	outputDomainData(domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	210	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	211	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	212
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	213	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	214
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	215	void Master::setDebug(const vector<string> &commandArgs)
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	216	{
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	217	stringstream str;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	218	int debugLevel;
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	if (commandArgs.size() != 1) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	221	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	222	err << "'debug' takes exactly one argument!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	223	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	224	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	225
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	226	str << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	227	str >> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	228	>> debugLevel;
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	229
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	230	if (str.fail()) {
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	231	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	232	err << "Invalid debug level '" << commandArgs[0] << "'!";
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	233	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	234	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	235
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	236	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	237
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	238	if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
956 d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	239	stringstream err;
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	240	err << "Failed to set debug level: " << strerror(errno);
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	241	throw MasterException(err.str());
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	242	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	243	}
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	244
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	245	/****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command. Florian Pose <fp@igh-essen.com> parents: 951 diff changeset	246
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	247	void Master::showDomains(int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	248	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	249	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	250
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	251	if (domainIndex == -1) {
1001 a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	252	unsigned int i;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	253	ec_ioctl_master_t master;
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	254
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	255	getMaster(&master);
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	256
a8eab75aa8e3 Removed EC_IOCTL_DOMAIN_COUNT. Florian Pose <fp@igh-essen.com> parents: 990 diff changeset	257	for (i = 0; i < master.domain_count; i++) {
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	258	showDomain(i);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	259	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	260	} else {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	261	showDomain(domainIndex);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	262	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	263	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	264
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	265	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	266
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	267	void Master::showMaster()
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	268	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	269	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	270	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	271	unsigned int i;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	272
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	273	open(Read);
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	274	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	275
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	276	cout
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	277	<< "Master" << index << endl
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	278	<< " Phase: ";
61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	279
61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	280	switch (data.phase) {
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	281	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	282	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	283	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	284	default:
1029 61ffe5f22306 Renamed master 'mode' to 'phase'. Florian Pose <fp@igh-essen.com> parents: 1001 diff changeset	285	err << "Invalid master phase " << data.phase;
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	286	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	287	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	288
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	289	cout << endl
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	290	<< " 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	291
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	292	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	293	cout << " Device" << i << ": ";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	294	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	295	&& 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	296	&& 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	297	&& 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	298	&& 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	299	&& 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	300	cout << "None.";
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	301	} else {
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	302	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	303	<< 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	304	<< 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	305	<< 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	306	<< 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	307	<< 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	308	<< 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	309	<< (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	310	<< ")" << endl << dec
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	311	<< " 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	312	<< " 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	313	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	314	cout << endl;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	315	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	316	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	317
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	318	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	319
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	320	void Master::listPdos(int slavePosition)
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	321	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	322	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	323
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	324	if (slavePosition == -1) {
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	325	unsigned int numSlaves = slaveCount(), i;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	326
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	327	for (i = 0; i < numSlaves; i++) {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	328	listSlavePdos(i, true);
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	329	}
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	330	} else {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	331	listSlavePdos(slavePosition, false);
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	332	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	333	}
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	334
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	335	/****************************************************************************/
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	336
eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	337	void Master::listSdos(int slavePosition)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	338	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	339	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	340
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	341	if (slavePosition == -1) {
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	342	unsigned int numSlaves = slaveCount(), i;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	343
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	344	for (i = 0; i < numSlaves; i++) {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	345	listSlaveSdos(i, true);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	346	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	347	} else {
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	348	listSlaveSdos(slavePosition, false);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	349	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	350	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	351
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	352	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	353
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	354	void Master::sdoDownload(
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	355	int slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	356	const string &dataTypeStr,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	357	const vector<string> &commandArgs
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	358	)
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	359	{
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	360	stringstream strIndex, strSubIndex, strValue, err;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	361	ec_ioctl_slave_sdo_download_t data;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	362	unsigned int number;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	363	const CoEDataType *dataType = NULL;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	364
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	365	if (slavePosition < 0) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	366	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	367	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	368	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	369	data.slave_position = slavePosition;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	370
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	371	if (commandArgs.size() != 3) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	372	err << "'sdo_download' takes 3 arguments!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	373	throw MasterException(err.str());
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	strIndex << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	377	strIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	378	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	379	>> data.sdo_index;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	380	if (strIndex.fail()) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	381	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	382	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	383	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	384
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	385	strSubIndex << commandArgs[1];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	386	strSubIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	387	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	388	>> number;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	389	if (strSubIndex.fail() \|\| number > 0xff) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	390	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	391	throw MasterException(err.str());
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	data.sdo_entry_subindex = number;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	394
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	395	if (dataTypeStr != "") { // data type specified
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	396	if (!(dataType = findDataType(dataTypeStr))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	397	err << "Invalid data type '" << dataTypeStr << "'!";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	398	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	399	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	400	} else { // no data type specified: fetch from dictionary
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	401	ec_ioctl_slave_sdo_entry_t entry;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	402
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	403	open(ReadWrite);
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	404
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	405	try {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	406	getSdoEntry(&entry, slavePosition,
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	407	data.sdo_index, data.sdo_entry_subindex);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	408	} catch (MasterException &e) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	409	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	410	<< "Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	411	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	412	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	413	if (!(dataType = findDataType(entry.data_type))) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	414	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	415	<< 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	416	<< " Please specify --type.";
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	417	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	418	}
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
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	421	if (dataType->byteSize) {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	422	data.data_size = dataType->byteSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	423	} else {
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	424	data.data_size = DefaultBufferSize;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	425	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	426
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	427	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	428
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	429	strValue << commandArgs[2];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	430	strValue >> resetiosflags(ios::basefield); // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	431	strValue.exceptions(ios::failbit);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	432
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	433	try {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	434	switch (dataType->coeCode) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	435	case 0x0002: // int8
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	436	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	437	int16_t val; // uint8_t is interpreted as char
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	438	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	439	if (val > 127 \|\| val < -128)
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	440	throw ios::failure("Value out of range");
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	441	*data.data = val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	442	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	443	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	444	case 0x0003: // int16
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	445	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	446	int16_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	447	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	448	(int16_t ) data.data = cputole16(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	449	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	450	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	451	case 0x0004: // int32
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	452	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	453	int32_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	454	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	455	(int32_t ) data.data = cputole32(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	456	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	457	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	458	case 0x0005: // uint8
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	459	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	460	uint16_t val; // uint8_t is interpreted as char
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	461	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	462	if (val > 0xff)
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	463	throw ios::failure("Value out of range");
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	464	*data.data = val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	465	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	466	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	467	case 0x0006: // uint16
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	468	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	469	uint16_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	470	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	471	(uint16_t ) data.data = cputole16(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	472	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	473	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	474	case 0x0007: // uint32
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	475	{
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	476	uint32_t val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	477	strValue >> val;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	478	(uint32_t ) data.data = cputole32(val);
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	479	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	480	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	481	case 0x0009: // string
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	482	if (strValue.str().size() >= data.data_size) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	483	err << "String too large";
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	484	throw MasterException(err.str());
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	485	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	486	data.data_size = strValue.str().size();
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	487	strValue >> (char *) data.data;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	488	break;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	489
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	490	default:
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	491	delete [] data.data;
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	492	err << "Unknown data type 0x" << hex << dataType->coeCode;
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	493	throw MasterException(err.str());
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	494	}
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	495	} catch (ios::failure &e) {
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	496	delete [] data.data;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	497	err << "Invalid value argument '" << commandArgs[2]
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	498	<< "' for type '" << dataType->name << "'!";
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	499	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	500	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	501
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	502	open(ReadWrite);
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	503
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	504	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	505	stringstream err;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	506	err << "Failed to download Sdo: ";
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	507	if (errno == EIO && data.abort_code) {
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	508	err << "Abort code 0x" << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	509	<< setw(8) << data.abort_code;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	510	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	511	err << strerror(errno);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	512	}
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	513	delete [] data.data;
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	514	throw MasterException(err.str());
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	515	}
5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	516
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	}
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
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	522	void Master::sdoUpload(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	523	int slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	524	const string &dataTypeStr,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	525	const vector<string> &commandArgs
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	526	)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	527	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	528	stringstream strIndex, strSubIndex;
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	529	int sval;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	530	ec_ioctl_slave_sdo_upload_t data;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	531	unsigned int uval;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	532	const CoEDataType *dataType = NULL;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	533
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	534	if (slavePosition < 0) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	535	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	536	err << "'sdo_upload' requires a slave! Please specify --slave.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	537	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	538	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	539	data.slave_position = slavePosition;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	540
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	541	if (commandArgs.size() != 2) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	542	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	543	err << "'sdo_upload' takes two arguments!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	544	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	545	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	546
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	547	strIndex << commandArgs[0];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	548	strIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	549	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	550	>> data.sdo_index;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	551	if (strIndex.fail()) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	552	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	553	err << "Invalid Sdo index '" << commandArgs[0] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	554	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	555	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	556
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	557	strSubIndex << commandArgs[1];
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	558	strSubIndex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	559	>> resetiosflags(ios::basefield) // guess base from prefix
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	560	>> uval;
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	561	if (strSubIndex.fail() \|\| uval > 0xff) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	562	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	563	err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	564	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	565	}
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	566	data.sdo_entry_subindex = uval;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	567
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	568	if (dataTypeStr != "") { // data type specified
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	569	if (!(dataType = findDataType(dataTypeStr))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	570	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	571	err << "Invalid data type '" << dataTypeStr << "'!";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	572	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	573	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	574	} else { // no data type specified: fetch from dictionary
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	575	ec_ioctl_slave_sdo_entry_t entry;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	576
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	577	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	578
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	579	try {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	580	getSdoEntry(&entry, slavePosition,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	581	data.sdo_index, data.sdo_entry_subindex);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	582	} catch (MasterException &e) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	583	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	584	err << "Failed to determine Sdo entry data type. "
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	585	<< "Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	586	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	587	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	588	if (!(dataType = findDataType(entry.data_type))) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	589	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	590	err << "Pdo entry has unknown data type 0x"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	591	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	592	<< " Please specify --type.";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	593	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	594	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	595	}
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	if (dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	598	data.target_size = dataType->byteSize;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	599	} else {
974 5868944a6456 Implemented Sdo download via ethercat command. Florian Pose <fp@igh-essen.com> parents: 972 diff changeset	600	data.target_size = DefaultBufferSize;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	601	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	602
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	603	data.target = new uint8_t[data.target_size + 1];
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	604
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	605	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	606
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	607	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	608	stringstream err;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	609	err << "Failed to upload Sdo: ";
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	610	if (errno == EIO && data.abort_code) {
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	611	err << "Abort code 0x" << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	612	<< setw(8) << data.abort_code;
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	613	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	614	err << strerror(errno);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1030 diff changeset	615	}
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	616	delete [] data.target;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	617	close();
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	618	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	619	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	620
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	621	close();
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	622
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	623	if (dataType->byteSize && data.data_size != dataType->byteSize) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	624	stringstream err;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	625	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	626	<< " with " << dataType->byteSize << " byte, but got "
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	627	<< data.data_size << " byte.";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	628	throw MasterException(err.str());
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	629	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	630
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	631	cout << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	632	switch (dataType->coeCode) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	633	case 0x0002: // int8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	634	sval = (int8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	635	cout << sval << " 0x" << hex << setw(2) << 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 0x0003: // int16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	638	sval = le16tocpu((int16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	639	cout << sval << " 0x" << hex << setw(4) << 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 0x0004: // int32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	642	sval = le32tocpu((int32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	643	cout << sval << " 0x" << hex << setw(8) << sval << 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 0x0005: // uint8
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	646	uval = (unsigned int) (uint8_t ) data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	647	cout << uval << " 0x" << hex << setw(2) << 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 0x0006: // uint16
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	650	uval = le16tocpu((uint16_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	651	cout << uval << " 0x" << hex << setw(4) << 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 0x0007: // uint32
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	654	uval = le32tocpu((uint32_t ) data.target);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	655	cout << uval << " 0x" << hex << setw(8) << uval << 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	case 0x0009: // string
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	658	cout << string((const char *) data.target, data.data_size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	659	<< endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	660	break;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	661	default:
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	662	printRawData(data.target, data.data_size);
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	663	break;
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	delete [] data.target;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	667	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	668
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	669	/****************************************************************************/
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	670
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	671	void Master::showSlaves(int slavePosition)
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	672	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	673	open(Read);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	674
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	675	if (verbosity == Verbose) {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	676	if (slavePosition == -1) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	677	unsigned int numSlaves = slaveCount(), i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	678
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	679	for (i = 0; i < numSlaves; i++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	680	showSlave(i);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	681	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	682	} else {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	683	showSlave(slavePosition);
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	684	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	685	} else {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	686	listSlaves(slavePosition);
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	687	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	688	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	689
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	690	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	691
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	692	void Master::siiRead(int slavePosition)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	693	{
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	694	ec_ioctl_slave_sii_t data;
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	695	ec_ioctl_slave_t slave;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	696	unsigned int i;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	697
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	698	if (slavePosition < 0) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	699	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	700	err << "'sii_read' requires a slave! Please specify --slave.";
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	701	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	702	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	703	data.slave_position = slavePosition;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	704
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	705	open(Read);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	706
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	707	getSlave(&slave, slavePosition);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	708
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	709	if (!slave.sii_nwords)
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	710	return;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	711
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	712	data.offset = 0;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	713	data.nwords = slave.sii_nwords;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	714	data.words = new uint16_t[data.nwords];
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	715
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	716	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
978 2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	717	stringstream err;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	718	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	719	err << "Failed to read SII: " << strerror(errno);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	720	throw MasterException(err.str());
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	721	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	722
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	723	for (i = 0; i < data.nwords; i++) {
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	724	uint16_t *w = data.words + i;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	725	cout << (uint8_t ) w << ((uint8_t ) w + 1);
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	726	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	727
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	728	delete [] data.words;
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	729	}
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	730
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	731	/****************************************************************************/
2962baf7e6d1 Implemented SII read. Florian Pose <fp@igh-essen.com> parents: 976 diff changeset	732
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	733	void Master::siiWrite(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	734	int slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	735	bool force,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	736	const vector<string> &commandArgs
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	stringstream err;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	740	ec_ioctl_slave_sii_t data;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	741	ifstream file;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	742	unsigned int byte_size;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	743	const uint16_t *categoryHeader;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	744	uint16_t categoryType, categorySize;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	745	uint8_t crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	746
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	747	if (slavePosition < 0) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	748	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	749	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	750	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	751	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	752
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	753	if (commandArgs.size() != 1) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	754	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	755	throw MasterException(err.str());
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
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	758	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	759	if (file.fail()) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	760	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	761	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	762	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	763
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	764	// get length of file
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	765	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	766	byte_size = file.tellg();
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	767	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	768
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	769	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	770	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	771	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	772	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	773	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	774
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	775	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	776	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	777	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	778	" 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	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
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	782	// 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	783	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	784	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	785	file.close();
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	if (!force) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	788	// 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	789	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	790	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	791	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	792	<< 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	793	<< ". 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	794	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	795	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	796
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	797	// 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	798	categoryHeader = data.words + 0x0040;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	799	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	800	while (categoryType != 0xffff) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	801	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	802	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	803	<< "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	804	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	805	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	806	categorySize = le16tocpu(*(categoryHeader + 1));
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	807	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	808	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	809	"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	810	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	811	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	812	categoryHeader += categorySize + 2;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	813	categoryType = le16tocpu(*categoryHeader);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	814	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	815	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	816
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	817	// send data to master
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	818	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	819	data.offset = 0;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	820	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	821	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	822	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	823	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	824	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	825	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	826
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	827	/****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	828
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	829	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	830	int slavePosition,
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	831	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	832	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	833	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	834	string stateStr;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	835	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	836
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	837	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	838	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	839	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	840	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	841	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	842
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	843	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	844	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	845	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	846
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	847	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	848	state = 0x01;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	849	} 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	850	state = 0x02;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	851	} 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	852	state = 0x04;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	853	} 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	854	state = 0x08;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	855	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	856	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	857	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	858	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	859	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	860
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	861	open(ReadWrite);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	862
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	863	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	864	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	865	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	866	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	867	} else {
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	868	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	869	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	870	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	871
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	872	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	873
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	874	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	875	{
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	876	open(Read);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	877
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	878	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	879	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	880
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	881	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	882	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	883	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	884	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	885	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	886	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	887	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	888
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	889	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	890
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	891	void Master::open(Permissions perm)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	892	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	893	stringstream deviceName;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	894
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	895	if (fd != -1) { // already open
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	896	return;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	897	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	898
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	899	deviceName << "/dev/EtherCAT" << index;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	900
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	901	if ((fd = ::open(deviceName.str().c_str(),
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	902	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	903	stringstream err;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	904	err << "Failed to open master device " << deviceName.str() << ": "
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	905	<< strerror(errno);
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	906	throw MasterException(err.str());
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	907	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	908	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	909
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	910	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	911
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	912	void Master::close()
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	913	{
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	914	if (fd == -1)
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	915	return;
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	916
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	917	::close(fd);
982 861eb2810f56 Open device with correct permissions immediately. Florian Pose <fp@igh-essen.com> parents: 980 diff changeset	918	fd = -1;
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	919	}
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	920
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	921	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	922
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	923	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	924	* 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	925	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	926	void Master::writeSlaveAlias(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	927	uint16_t slavePosition,
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	928	uint16_t alias
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	929	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	930	{
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	931	ec_ioctl_slave_sii_t data;
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	932	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	933	stringstream err;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	934	uint8_t crc;
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	open(ReadWrite);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	937
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	938	getSlave(&slave, slavePosition);
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	939
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	940	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	941	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	942	<< "(" << slave.sii_nwords << " words)!";
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	943	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	944	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	945
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	946	data.slave_position = slavePosition;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	947	data.offset = 0;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	948	data.nwords = 8;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	949	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	950
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	951	// read first 8 SII words
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	952	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	953	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	954	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	955	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	956	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	957
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	958	// 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	959	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	960
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	961	// 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	962	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	963
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	964	// 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	965	(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	966
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	967	// write first 8 words with new alias and checksum
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	968	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	969	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	970	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	971	throw MasterException(err.str());
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	972	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	973
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	974	delete [] data.words;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	975	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	976
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	977	/*****************************************************************************/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	978
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	979	/** Lists the complete bus configuration.
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	980	*/
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	981	void Master::showDetailedConfigs()
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	982	{
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	983	ec_ioctl_master_t master;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	984	unsigned int i, j, k, l;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	985	ec_ioctl_config_t config;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	986	ec_ioctl_config_pdo_t pdo;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	987	ec_ioctl_config_pdo_entry_t entry;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	988	ec_ioctl_config_sdo_t sdo;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	989
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	990	open(Read);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	991	getMaster(&master);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	992
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	993	for (i = 0; i < master.config_count; i++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	994	getConfig(&config, i);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	995
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	996	cout << "Alias: "
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	997	<< dec << config.alias << endl
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	998	<< "Position: " << config.position << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	999	<< "Vendor Id: 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1000	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1001	<< setw(8) << config.vendor_id << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1002	<< "Product code: 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1003	<< setw(8) << config.product_code << endl
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1004	<< "Attached: " << (config.attached ? "yes" : "no") << endl
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1005	<< "Operational: " << (config.operational ? "yes" : "no") << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1006
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1079 diff changeset	1007	for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1008	if (config.syncs[j].pdo_count) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1009	cout << "SM" << dec << j << " ("
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1010	<< (config.syncs[j].dir == EC_DIR_INPUT
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1011	? "Input" : "Output") << ")" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1012	for (k = 0; k < config.syncs[j].pdo_count; k++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1013	getConfigPdo(&pdo, i, j, k);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1014
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1015	cout << " Pdo 0x" << hex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1016	<< setw(4) << pdo.index
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1017	<< " \"" << pdo.name << "\"" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1018
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1019	for (l = 0; l < pdo.entry_count; l++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1020	getConfigPdoEntry(&entry, i, j, k, l);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1021
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1022	cout << " Pdo entry 0x" << hex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1023	<< setw(4) << entry.index << ":"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1024	<< setw(2) << (unsigned int) entry.subindex
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1025	<< ", " << dec << (unsigned int) entry.bit_length
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1026	<< " bit, \"" << entry.name << "\"" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1027	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1028	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1029	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1030	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1031
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1032	if (config.sdo_count) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1033	cout << "Sdo configuration:" << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1034	for (j = 0; j < config.sdo_count; j++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1035	getConfigSdo(&sdo, i, j);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1036
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1037	cout << " 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1038	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1039	<< setw(4) << sdo.index << ":"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1040	<< setw(2) << (unsigned int) sdo.subindex
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1041	<< ", " << dec << sdo.size << " byte: " << hex;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1042
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1043	switch (sdo.size) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1044	case 1:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1045	cout << "0x" << setw(2)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1046	<< (unsigned int) (uint8_t ) &sdo.data;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1047	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1048	case 2:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1049	cout << "0x" << setw(4)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1050	<< le16tocpu((uint16_t ) &sdo.data);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1051	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1052	case 4:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1053	cout << "0x" << setw(8)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1054	<< le32tocpu((uint32_t ) &sdo.data);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1055	break;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1056	default:
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1057	cout << "???";
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1058	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1059
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1060	cout << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1061	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1062	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1063
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1064	cout << endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1065	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1066	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1067
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1068	/*****************************************************************************/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1069
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1070	struct ConfigInfo {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1071	string alias;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1072	string pos;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1073	string ident;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1074	string att;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1075	string op;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1076	};
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1077
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1078	/** Lists the bus configuration.
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1079	*/
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1080	void Master::listConfigs()
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1081	{
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1082	ec_ioctl_master_t master;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1083	unsigned int i;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1084	ec_ioctl_config_t config;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1085	stringstream str;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1086	ConfigInfo info;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1087	typedef list<ConfigInfo> ConfigInfoList;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1088	ConfigInfoList list;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1089	ConfigInfoList::const_iterator iter;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1090	unsigned int maxAliasWidth = 0, maxPosWidth = 0,
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1091	maxAttWidth = 0, maxOpWidth = 0;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1092
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1093	open(Read);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1094	getMaster(&master);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1095
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1096	for (i = 0; i < master.config_count; i++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1097	getConfig(&config, i);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1098
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1099	str << dec << config.alias;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1100	info.alias = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1101	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1102	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1103
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1104	str << config.position;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1105	info.pos = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1106	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1107	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1108
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1109	str << hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1110	<< "0x" << setw(8) << config.vendor_id
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1111	<< "/0x" << setw(8) << config.product_code;
1066 7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1112	info.ident = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1113	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1114	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1115
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1116	str << (config.attached ? "attached" : "-");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1117	info.att = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1118	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1119	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1120
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1121	str << (config.operational ? "operational" : "-");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1122	info.op = str.str();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1123	str.clear();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1124	str.str("");
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1125
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1126	list.push_back(info);
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1127
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1128	if (info.alias.length() > maxAliasWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1129	maxAliasWidth = info.alias.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1130	if (info.pos.length() > maxPosWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1131	maxPosWidth = info.pos.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1132	if (info.att.length() > maxAttWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1133	maxAttWidth = info.att.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1134	if (info.op.length() > maxOpWidth)
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1135	maxOpWidth = info.op.length();
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1136	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1137
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1138	for (iter = list.begin(); iter != list.end(); iter++) {
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1139	cout << setfill(' ') << right
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1140	<< setw(maxAliasWidth) << iter->alias
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1141	<< ":" << left
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1142	<< setw(maxPosWidth) << iter->pos
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1143	<< " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1144	<< iter->ident
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1145	<< " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1146	<< setw(maxAttWidth) << iter->att << " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1147	<< setw(maxOpWidth) << iter->op << " "
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1148	<< endl;
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1149	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1150	}
7ece00bd6559 Added configuration listing command. Florian Pose <fp@igh-essen.com> parents: 1065 diff changeset	1151
972 ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1152	/****************************************************************************/
ad59641a68c8 ioctl() permissions. Florian Pose <fp@igh-essen.com> parents: 970 diff changeset	1153
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1154	void Master::outputDomainData(unsigned int domainIndex)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1155	{
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1156	ec_ioctl_domain_t domain;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1157	ec_ioctl_domain_data_t data;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1158	unsigned char *processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1159	unsigned int i;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1160
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1161	getDomain(&domain, domainIndex);
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1162
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1163	if (!domain.data_size)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1164	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1165
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1166	processData = new unsigned char[domain.data_size];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1167
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1168	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1169	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	1170	} catch (MasterException &e) {
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1171	delete [] processData;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1172	throw e;
949 e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1173	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1174
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1175	for (i = 0; i < data.data_size; i++)
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1176	cout << processData[i];
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1177	cout.flush();
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1178
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1179	delete [] processData;
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1180	}
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1181
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1182	/****************************************************************************/
e424c0074c67 Implemented 'data' command. Florian Pose <fp@igh-essen.com> parents: 948 diff changeset	1183
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1184	void Master::showDomain(unsigned int domainIndex)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1185	{
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1186	ec_ioctl_domain_t domain;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1187	unsigned char *processData;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1188	ec_ioctl_domain_data_t data;
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1189	unsigned int i, j;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1190	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	1191	unsigned int dataOffset;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1192
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1193	getDomain(&domain, domainIndex);
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1194
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1195	cout << "Domain" << dec << domainIndex << ":"
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1196	<< " LogBaseAddr 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1197	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1198	<< setw(8) << domain.logical_base_address
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1199	<< ", Size " << dec << setfill(' ')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1200	<< setw(3) << domain.data_size
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1201	<< ", WorkingCounter "
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1202	<< domain.working_counter << "/"
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1203	<< 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	1204
1100 af0b187de6ef Show domain data only if verbose. Florian Pose <fp@igh-essen.com> parents: 1099 diff changeset	1205	if (!domain.data_size \|\| verbosity != Verbose)
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1206	return;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1207
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1208	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	1209
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1210	try {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1211	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	1212	} catch (MasterException &e) {
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1213	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1214	throw e;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1215	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1216
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1217	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	1218	getFmmu(&fmmu, domainIndex, i);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1219
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1220	cout << " SlaveConfig "
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1221	<< dec << fmmu.slave_config_alias
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1222	<< ":" << fmmu.slave_config_position
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1223	<< ", SM" << (unsigned int) fmmu.sync_index << " ("
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1224	<< setfill(' ') << setw(6)
1062 75a2b2934e2b Show sync manager index in 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 1057 diff changeset	1225	<< (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1226	<< "), LogAddr 0x"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1227	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1228	<< setw(8) << fmmu.logical_address
951 dc84a0af63da Improved output of 'ethercat domain'. Florian Pose <fp@igh-essen.com> parents: 950 diff changeset	1229	<< ", 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	1230
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1231	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	1232	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	1233	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1234	err << "Fmmu information corrupted!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1235	delete [] processData;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1236	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1237	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1238
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1239	cout << " " << hex << setfill('0');
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1240	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	1241	cout << setw(2)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1242	<< (unsigned int) *(processData + dataOffset + j) << " ";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1243	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1244	cout << endl;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1245	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1246
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1247	delete [] processData;
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1248	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1249
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1250	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1251
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1252	void Master::listSlavePdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1253	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1254	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1255	)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1256	{
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1257	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1258	ec_ioctl_slave_sync_t sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1259	ec_ioctl_slave_sync_pdo_t pdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1260	ec_ioctl_slave_sync_pdo_entry_t entry;
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1261	unsigned int i, j, k;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1262
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1263	getSlave(&slave, slavePosition);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1264
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1265	if (withHeader)
936 30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1266	cout << "=== Slave " << slavePosition << " ===" << endl;
30fddfce8db6 Added multi-slave support. Florian Pose <fp@igh-essen.com> parents: 935 diff changeset	1267
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1268	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	1269	getSync(&sync, slavePosition, i);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1270
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1271	cout << "SM" << i << ":"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1272	<< " PhysAddr 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1273	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1274	<< setw(4) << sync.physical_start_address
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1275	<< ", DefaultSize "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1276	<< dec << setfill(' ') << setw(4) << sync.default_size
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1277	<< ", ControlRegister 0x"
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1278	<< hex << setfill('0') << setw(2)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1279	<< (unsigned int) sync.control_register
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1280	<< ", Enable " << dec << (unsigned int) sync.enable
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1281	<< endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1282
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1283	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	1284	getPdo(&pdo, slavePosition, i, j);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1285
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1286	cout << " " << (sync.control_register & 0x04 ? "R" : "T")
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1287	<< "xPdo 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1288	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1289	<< setw(4) << pdo.index
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1290	<< " \"" << pdo.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1291
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1292	if (verbosity == Quiet)
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1293	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1294
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1295	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	1296	getPdoEntry(&entry, slavePosition, i, j, k);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1297
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1298	cout << " Pdo entry 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1299	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1300	<< setw(4) << entry.index
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1301	<< ":" << setw(2) << (unsigned int) entry.subindex
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1302	<< ", " << dec << (unsigned int) entry.bit_length
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1303	<< " bit, \"" << entry.name << "\"" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1304	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1305	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1306	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1307	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1308
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1309	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1310
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1311	void Master::listSlaveSdos(
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1312	uint16_t slavePosition,
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1313	bool withHeader
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1314	)
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1315	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1316	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1317	ec_ioctl_slave_sdo_t sdo;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1318	ec_ioctl_slave_sdo_entry_t entry;
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1319	unsigned int i, j;
970 b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1320	const CoEDataType *d;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1321
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1322	getSlave(&slave, slavePosition);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1323
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1324	if (withHeader)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1325	cout << "=== Slave " << slavePosition << " ===" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1326
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1327	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	1328	getSdo(&sdo, slavePosition, i);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1329
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1330	cout << "Sdo 0x"
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1331	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1332	<< setw(4) << sdo.sdo_index
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1333	<< ", \"" << sdo.name << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1334
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1335	if (verbosity == Quiet)
966 f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1336	continue;
f1a7ea8a550a Added -q flag (quiet). Florian Pose <fp@igh-essen.com> parents: 965 diff changeset	1337
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1338	for (j = 0; j <= sdo.max_subindex; j++) {
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1339	getSdoEntry(&entry, slavePosition, -i, j);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1340
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1341	cout << " 0x" << hex << setfill('0')
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1342	<< setw(4) << sdo.sdo_index << ":"
983 efb947bd96f3 Output Sdo index at entry. Florian Pose <fp@igh-essen.com> parents: 982 diff changeset	1343	<< 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	1344	<< ", ";
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1345
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1346	if ((d = findDataType(entry.data_type))) {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1347	cout << d->name;
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1348	} else {
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1349	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	1350	}
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1351
b7cbff36bc01 Display textual data type in 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 968 diff changeset	1352	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	1353	<< entry.description << "\"" << endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1354	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1355	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1356	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1357
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1358	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1359
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1360	struct SlaveInfo {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1361	string pos;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1362	string alias;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1363	string relPos;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1364	string state;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1365	string flag;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1366	string name;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1367	};
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1368
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1369	void Master::listSlaves(int slavePosition)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1370	{
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1371	unsigned int numSlaves, i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1372	ec_ioctl_slave_t slave;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1373	uint16_t lastAlias, aliasIndex;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1374	SlaveInfo slaveInfo;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1375	typedef list<SlaveInfo> SlaveInfoList;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1376	SlaveInfoList slaveInfoList;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1377	SlaveInfoList::const_iterator iter;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1378	stringstream str;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1379	unsigned int maxPosWidth = 0, maxAliasWidth = 0,
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1380	maxRelPosWidth = 0, maxStateWidth = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1381
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1382	open(Read);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1383
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1384	numSlaves = slaveCount();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1385
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1386	lastAlias = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1387	aliasIndex = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1388	for (i = 0; i < numSlaves; i++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1389	getSlave(&slave, i);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1390
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1391	if (slave.alias) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1392	lastAlias = slave.alias;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1393	aliasIndex = 0;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1394	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1395
1099 eb8d16507d88 Made verbosity a master property; added -Wall flag to tools. Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	1396	if (slavePosition == -1 \|\| i == (unsigned int) slavePosition) {
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1397	str << dec << i;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1398	slaveInfo.pos = str.str();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1399	str.clear();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1400	str.str("");
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1401
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1402	str << lastAlias;
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1403	slaveInfo.alias = str.str();
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1404	str.str("");
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1405
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1406	str << aliasIndex;
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1407	slaveInfo.relPos = str.str();
54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1408	str.str("");
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1409
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1410	slaveInfo.state = slaveState(slave.state);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1411	slaveInfo.flag = (slave.error_flag ? 'E' : '+');
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1412
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1413	if (strlen(slave.name)) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1414	slaveInfo.name = slave.name;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1415	} else {
1068 df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1416	str << "0x" << hex << setfill('0')
df1c8e4f0577 Alias decimal. Florian Pose <fp@igh-essen.com> parents: 1067 diff changeset	1417	<< setw(8) << slave.vendor_id << ":0x"
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1418	<< setw(8) << slave.product_code;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1419	slaveInfo.name = str.str();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1420	str.str("");
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1421	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1422
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1423
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1424	slaveInfoList.push_back(slaveInfo);
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1425
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1426	if (slaveInfo.pos.length() > maxPosWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1427	maxPosWidth = slaveInfo.pos.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1428	if (slaveInfo.alias.length() > maxAliasWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1429	maxAliasWidth = slaveInfo.alias.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1430	if (slaveInfo.relPos.length() > maxRelPosWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1431	maxRelPosWidth = slaveInfo.relPos.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1432	if (slaveInfo.state.length() > maxStateWidth)
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1433	maxStateWidth = slaveInfo.state.length();
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1434	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1435
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1436	aliasIndex++;
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1437	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1438
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1439	for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1440	cout << setfill(' ') << right
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1441	<< setw(maxPosWidth) << iter->pos << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1442	<< setw(maxAliasWidth) << iter->alias
1067 54744527d7c6 Removed TODOx:y-Output. Florian Pose <fp@igh-essen.com> parents: 1066 diff changeset	1443	<< ":" << left
1065 d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1444	<< setw(maxRelPosWidth) << iter->relPos << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1445	<< setw(maxStateWidth) << iter->state << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1446	<< iter->flag << " "
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1447	<< iter->name << endl;
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1448	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1449	}
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1450
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1451	/****************************************************************************/
d1d2aa556344 United 'ethercat slaves' and 'ethercat list' with a verbose flag. Florian Pose <fp@igh-essen.com> parents: 1062 diff changeset	1452
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1453	void Master::showSlave(uint16_t slavePosition)
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1454	{
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1455	ec_ioctl_slave_t slave;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1456	list<string> protoList;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1457	list<string>::const_iterator protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1458
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1459	getSlave(&slave, slavePosition);
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1460
1069 ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1461	cout << "=== Slave " << dec << slavePosition << " ===" << endl;
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1462
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1463	if (slave.alias)
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1464	cout << "Alias: " << slave.alias << endl;
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1465
ab0c21d9ab2b Output slave headers in 'ethercat slaves'; show alias only if set. Florian Pose <fp@igh-essen.com> parents: 1068 diff changeset	1466	cout
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1467	<< "State: " << slaveState(slave.state) << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1468	<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1469	<< "Identity:" << endl
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1470	<< " Vendor Id: 0x"
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1471	<< hex << setfill('0')
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1472	<< setw(8) << slave.vendor_id << endl
94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1473	<< " Product code: 0x"
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1474	<< setw(8) << slave.product_code << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1475	<< " Revision number: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1476	<< setw(8) << slave.revision_number << endl
1072 94a5f043dee5 Improved input/output of hex numbers. Florian Pose <fp@igh-essen.com> parents: 1071 diff changeset	1477	<< " Serial number: 0x"
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1478	<< setw(8) << slave.serial_number << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1479
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1480	if (slave.mailbox_protocols) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1481	cout << "Mailboxes:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1482	<< " RX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1483	<< hex << setw(4) << slave.rx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1484	<< dec << slave.rx_mailbox_size
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1485	<< ", TX: 0x"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1486	<< hex << setw(4) << slave.tx_mailbox_offset << "/"
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1487	<< dec << slave.tx_mailbox_size << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1488	<< " Supported protocols: ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1489
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1490	if (slave.mailbox_protocols & EC_MBOX_AOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1491	protoList.push_back("AoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1492	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1493	if (slave.mailbox_protocols & EC_MBOX_EOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1494	protoList.push_back("EoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1495	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1496	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1497	protoList.push_back("CoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1498	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1499	if (slave.mailbox_protocols & EC_MBOX_FOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1500	protoList.push_back("FoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1501	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1502	if (slave.mailbox_protocols & EC_MBOX_SOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1503	protoList.push_back("SoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1504	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1505	if (slave.mailbox_protocols & EC_MBOX_VOE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1506	protoList.push_back("VoE");
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1507	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1508
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1509	for (protoIter = protoList.begin(); protoIter != protoList.end();
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1510	protoIter++) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1511	if (protoIter != protoList.begin())
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1512	cout << ", ";
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1513	cout << *protoIter;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1514	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1515	cout << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1516	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1517
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1518	if (slave.has_general_category) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1519	cout << "General:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1520	<< " Name: " << slave.name << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1521
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1522	if (slave.mailbox_protocols & EC_MBOX_COE) {
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1523	cout << " CoE details:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1524	<< " Enable Sdo: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1525	<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1526	<< " Enable Sdo Info: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1527	<< (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1528	<< " Enable Pdo Assign: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1529	<< (slave.coe_details.enable_pdo_assign
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1530	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1531	<< " Enable Pdo Configuration: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1532	<< (slave.coe_details.enable_pdo_configuration
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1533	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1534	<< " Enable Upload at startup: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1535	<< (slave.coe_details.enable_upload_at_startup
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1536	? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1537	<< " Enable Sdo complete access: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1538	<< (slave.coe_details.enable_sdo_complete_access
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1539	? "yes" : "no") << endl;
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1540	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1541
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1542	cout << " Flags:" << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1543	<< " Enable SafeOp: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1544	<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1545	<< " Enable notLRW: "
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1546	<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1547	<< " Current consumption: "
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1548	<< dec << slave.current_on_ebus << " mA" << endl;
989 816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1549	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1550	}
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1551
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1552	/****************************************************************************/
816663ca9370 Slave information via 'ethercat slave'. Florian Pose <fp@igh-essen.com> parents: 988 diff changeset	1553
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1554	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	1555	{
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1556	ec_ioctl_slave_t slave;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1557	ec_ioctl_slave_sync_t sync;
ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1558	ec_ioctl_slave_sync_pdo_t pdo;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1559	string pdoType;
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1560	ec_ioctl_slave_sync_pdo_entry_t entry;
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1561	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	1562
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1563	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	1564
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1565	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1566	<< "<?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	1567	<< " <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	1568	<< " <!-- 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	1569	<< " <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	1570	<< " <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	1571	<< " </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	1572	<< " <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	1573	<< " <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	1574	<< " <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	1575	<< " <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	1576	<< 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	1577	<< "\" 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	1578	<< 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	1579	<< "\"/>" << endl;
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1580
1073 f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1581	if (strlen(slave.name)) {
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1582	cout
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1583	<< " <Name><![CDATA["
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1584	<< slave.name
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1585	<< "]]></Name>" << endl;
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1586	}
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1587
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1588	for (i = 0; i < slave.sync_count; i++) {
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1589	getSync(&sync, slavePosition, i);
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1590
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1591	cout
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1592	<< " <Sm Enable=\"" << dec << (unsigned int) sync.enable
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1593	<< "\" StartAddress=\"" << sync.physical_start_address
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1594	<< "\" ControlByte=\"" << (unsigned int) sync.control_register
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1595	<< "\" DefaultSize=\"" << sync.default_size
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1596	<< "\" />" << endl;
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1597	}
f3c50aa42b6c Sync manager and name information in xml. Florian Pose <fp@igh-essen.com> parents: 1072 diff changeset	1598
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1599	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	1600	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	1601
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1602	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	1603	getPdo(&pdo, slavePosition, i, j);
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1604	pdoType = (sync.control_register & 0x04 ? "R" : "T");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1605	pdoType += "xPdo";
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1606
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1607	cout
1071 82122748f4e0 Added Fixed="1" to Pdo element. Florian Pose <fp@igh-essen.com> parents: 1070 diff changeset	1608	<< " <" << pdoType
82122748f4e0 Added Fixed="1" to Pdo element. Florian Pose <fp@igh-essen.com> parents: 1070 diff changeset	1609	<< " Sm=\"" << i << "\" Fixed=\"1\">" << endl
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1610	<< " <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	1611	<< 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	1612	<< "</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	1613	<< " <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	1614
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1615	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	1616	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	1617
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1618	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1619	<< " <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	1620	<< " <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	1621	<< 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	1622	<< "</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	1623	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	1624	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1625	<< " <SubIndex>"
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1626	<< 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	1627	<< "</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	1628
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1629	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1630	<< " <BitLen>"
1030 d7970e934dba Bugfix: Bitlength always decimal in XML. Florian Pose <fp@igh-essen.com> parents: 1029 diff changeset	1631	<< dec << (unsigned int) entry.bit_length
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1632	<< "</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	1633
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1634	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	1635	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1636	<< " <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	1637	<< "</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	1638	<< " <DataType>";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1639
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1640	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	1641	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	1642	} 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	1643	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	1644	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	1645	else
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1646	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	1647	<< (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	1648	<< ")";
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1649	} else {
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1650	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	1651	<< (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	1652	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1653
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1654	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	1655	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1656
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1657	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	1658	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1659
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1660	cout
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1661	<< " </" << pdoType << ">" << endl;
938 5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1662	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1663	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1664
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1665	cout
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1666	<< " </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	1667	<< " </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	1668	<< " </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	1669	<< "</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	1670	}
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1671
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1672	/****************************************************************************/
5b936e8e39fa Added 'xml' command to generate a slave description file from a real Florian Pose <fp@igh-essen.com> parents: 936 diff changeset	1673
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1674	unsigned int Master::slaveCount()
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1675	{
957 ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1676	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	1677
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1678	getMaster(&data);
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1679	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	1680	}
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1681
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1682	/****************************************************************************/
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1683
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1684	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	1685	{
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1686	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	1687	stringstream err;
ed5ac2e83495 Replaced EC_IOCTL_SLAVE_COUNT with EC_IOCTL_MASTER; implemented Florian Pose <fp@igh-essen.com> parents: 956 diff changeset	1688	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	1689	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	1690	}
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1691	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1692
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1693	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1694
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1695	void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1696	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1697	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1698
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1699	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1700	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1701	err << "Failed to get slave configuration: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1702	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1703	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1704	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1705
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1706	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1707
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1708	void Master::getConfigPdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1709	ec_ioctl_config_pdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1710	unsigned int index,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1711	uint8_t sync_index,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1712	uint16_t pdo_pos
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1713	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1714	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1715	data->config_index = index;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1716	data->sync_index = sync_index;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1717	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1718
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1719	if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1720	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1721	err << "Failed to get slave config Pdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1722	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1723	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1724	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1725
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1726	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1727
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1728	void Master::getConfigPdoEntry(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1729	ec_ioctl_config_pdo_entry_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1730	unsigned int index,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1731	uint8_t sync_index,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1732	uint16_t pdo_pos,
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1733	uint8_t entry_pos
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1734	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1735	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1736	data->config_index = index;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1737	data->sync_index = sync_index;
990 4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1738	data->pdo_pos = pdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1739	data->entry_pos = entry_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1740
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1741	if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1742	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1743	err << "Failed to get slave config Pdo entry: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1744	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1745	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1746	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1747
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1748	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1749
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1750	void Master::getConfigSdo(
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1751	ec_ioctl_config_sdo_t *data,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1752	unsigned int index,
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1753	unsigned int sdo_pos
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1754	)
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1755	{
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1756	data->config_index = index;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1757	data->sdo_pos = sdo_pos;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1758
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1759	if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1760	stringstream err;
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1761	err << "Failed to get slave config Sdo: " << strerror(errno);
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1762	throw MasterException(err.str());
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1763	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1764	}
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1765
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1766	/****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 989 diff changeset	1767
948 1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1768	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	1769	{
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1770	data->index = index;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1771
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1772	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1773	stringstream err;
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1774	err << "Failed to get domain: ";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1775	if (errno == EINVAL)
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1776	err << "Domain " << index << " does not exist!";
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1777	else
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1778	err << strerror(errno);
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1779	throw MasterException(err.str());
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1780	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1781	}
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1782
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1783	/****************************************************************************/
1cfab7161491 Implemented domain command. Florian Pose <fp@igh-essen.com> parents: 938 diff changeset	1784
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1785	void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1786	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	1787	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1788	data->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1789	data->data_size = dataSize;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1790	data->target = mem;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1791
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1792	if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1793	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1794	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	1795	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1796	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1797	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1798
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1799	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1800
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1801	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	1802	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1803	slave->position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1804
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1805	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1806	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1807	err << "Failed to get slave: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1808	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1809	err << "Slave " << slaveIndex << " does not exist!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1810	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1811	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1812	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1813	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1814	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1815
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1816	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1817
950 8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1818	void Master::getFmmu(
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1819	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	1820	unsigned int domainIndex,
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1821	unsigned int fmmuIndex
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1822	)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1823	{
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1824	fmmu->domain_index = domainIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1825	fmmu->fmmu_index = fmmuIndex;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1826
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1827	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	1828	stringstream err;
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1829	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	1830	if (errno == EINVAL)
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1831	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	1832	<< "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	1833	<< " FMMus!";
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1834	else
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1835	err << strerror(errno);
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1836	throw MasterException(err.str());
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1837	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1838	}
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1839
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1840	/****************************************************************************/
8b00e63fff90 'ethercat domain' shows domain contents and process data. Florian Pose <fp@igh-essen.com> parents: 949 diff changeset	1841
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1842	void Master::getSync(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1843	ec_ioctl_slave_sync_t *sync,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1844	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1845	uint8_t syncIndex
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1846	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1847	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1848	sync->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1849	sync->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1850
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1851	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1852	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1853	err << "Failed to get sync manager: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1854	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1855	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	1856	<< "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	1857	<< " sync managers!";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1858	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1859	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1860	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1861	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1862	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1863
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1864	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1865
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1866	void Master::getPdo(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1867	ec_ioctl_slave_sync_pdo_t *pdo,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1868	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1869	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1870	uint8_t pdoPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1871	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1872	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1873	pdo->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1874	pdo->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1875	pdo->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1876
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1877	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1878	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1879	err << "Failed to get Pdo: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1880	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1881	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	1882	<< "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	1883	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1884	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1885	<< pdoPos + 1 << " Pdos!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1886	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1887	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1888	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1889	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1890	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1891
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1892	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1893
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1894	void Master::getPdoEntry(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1895	ec_ioctl_slave_sync_pdo_entry_t *entry,
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1896	uint16_t slaveIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1897	uint8_t syncIndex,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1898	uint8_t pdoPos,
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1899	uint8_t entryPos
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1900	)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1901	{
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1902	entry->slave_position = slaveIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1903	entry->sync_index = syncIndex;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1904	entry->pdo_pos = pdoPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1905	entry->entry_pos = entryPos;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1906
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1907	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1908	stringstream err;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1909	err << "Failed to get Pdo entry: ";
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1910	if (errno == EINVAL)
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1911	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	1912	<< "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	1913	<< " sync managers, or sync manager "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1914	<< (unsigned int) syncIndex << " contains less than "
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1915	<< 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	1916	<< " contains less than " << (unsigned int) entryPos + 1
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1917	<< " entries!" << endl;
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1918	else
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1919	err << strerror(errno);
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1920	throw MasterException(err.str());
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1921	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1922	}
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1923
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1924	/****************************************************************************/
b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1925
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1926	void Master::getSdo(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1927	ec_ioctl_slave_sdo_t *sdo,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1928	uint16_t slaveIndex,
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1929	uint16_t sdoPosition
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1930	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1931	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1932	sdo->slave_position = slaveIndex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1933	sdo->sdo_position = sdoPosition;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1934
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1935	if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1936	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1937	err << "Failed to get Sdo: ";
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1938	if (errno == EINVAL)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1939	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	1940	<< "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	1941	<< endl;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1942	else
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1943	err << strerror(errno);
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1944	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1945	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1946	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1947
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1948	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1949
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1950	void Master::getSdoEntry(
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1951	ec_ioctl_slave_sdo_entry_t *entry,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1952	uint16_t slaveIndex,
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1953	int sdoSpec,
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1954	uint8_t entrySubindex
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1955	)
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1956	{
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1957	entry->slave_position = slaveIndex;
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1958	entry->sdo_spec = sdoSpec;
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1959	entry->sdo_entry_subindex = entrySubindex;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1960
1079 ef1266652c4d Improved locking between ioctl()s and master state machine; separate Florian Pose <fp@igh-essen.com> parents: 1073 diff changeset	1961	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1962	stringstream err;
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1963	err << "Failed to get Sdo entry: ";
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	1964	err << strerror(errno);
965 1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1965	throw MasterException(err.str());
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1966	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1967	}
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1968
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1969	/****************************************************************************/
1aee4aa1def3 Implemented Sdo dictionary info via 'ethercat sdos'. Florian Pose <fp@igh-essen.com> parents: 960 diff changeset	1970
960 36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1971	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	1972	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	1973	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	1974	)
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1975	{
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1976	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	1977
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1978	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	1979	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	1980
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1981	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	1982	stringstream err;
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1983	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	1984	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	1985	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	1986	else
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1987	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	1988	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	1989	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1990	}
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1991
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1992	/****************************************************************************/
36e460ffbb5e Request slave state(s) with 'ethercat state'; removed sysfs state file. Florian Pose <fp@igh-essen.com> parents: 957 diff changeset	1993
935 b954e9d91ea5 Added 'pdos' command to ethercat tool. Florian Pose <fp@igh-essen.com> parents: 922 diff changeset	1994	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	1995	{
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1996	switch (state) {
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1997	case 1: return "INIT";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1998	case 2: return "PREOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	1999	case 4: return "SAFEOP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2000	case 8: return "OP";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2001	default: return "???";
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2002	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2003	}
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2004
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality. Florian Pose <fp@igh-essen.com> parents: diff changeset	2005	/****************************************************************************/
968 b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2006
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2007	void Master::printRawData(
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2008	const uint8_t *data,
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2009	unsigned int size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2010	{
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2011	cout << hex << setfill('0');
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2012	while (size--) {
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2013	cout << "0x" << setw(2) << (unsigned int) *data++;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2014	if (size)
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2015	cout << " ";
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2016	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2017	cout << endl;
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2018	}
b0e894257743 Implemented sdo_upload command. Florian Pose <fp@igh-essen.com> parents: 966 diff changeset	2019
980 c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2020	/*****************************************************************************/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2021
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2022	/**
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2023	* 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	2024	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2025	* 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	2026	* 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	2027	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2028	* 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	2029	* 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	2030	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2031	* ./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	2032	* --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	2033	*
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2034	* \return CRC8
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2035	*/
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2036	uint8_t Master::calcSiiCrc(
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2037	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	2038	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	2039	)
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2040	{
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2041	unsigned int i;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2042	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	2043
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2044	while (length--) {
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2045	byte = *data++;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2046	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	2047	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2048	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	2049	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2050	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2051	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2052
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2053	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	2054	bit = crc & 0x80;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2055	crc <<= 1;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2056	if (bit) crc ^= 0x07;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2057	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2058
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2059	return crc;
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2060	}
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2061
c07dd38243ba Implemented SII writing (including alias writing) via ethercat command. Florian Pose <fp@igh-essen.com> parents: 978 diff changeset	2062	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 07 Jul 2008 07:59:07 +0000
changeset 1100	af0b187de6ef
parent 1099	eb8d16507d88
child 1101	f8d13814af03
permissions	-rw-r--r--