tool/cmd_sdos.cpp
author Florian Pose <fp@igh-essen.com>
Tue, 22 Jul 2008 14:17:20 +0000
changeset 1126 b09fd81894cb
child 1130 bb1c11adb2db
permissions -rw-r--r--
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/*****************************************************************************
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 *
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 * $Id$
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 *
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 ****************************************************************************/
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "globals.h"
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#include "coe_datatypes.h"
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/****************************************************************************/
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const char *help_sdos =
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    "[OPTIONS]\n"
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    "\n"
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    "\n"
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    "Command-specific options:\n";
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/****************************************************************************/
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void listSlaveSdos(uint16_t, bool);
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/****************************************************************************/
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void command_sdos(void)
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{
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    masterDev.open(MasterDevice::Read);
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    if (slavePosition == -1) {
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        unsigned int numSlaves = masterDev.slaveCount(), i;
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        for (i = 0; i < numSlaves; i++) {
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            listSlaveSdos(i, true);
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        }
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    } else {
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        listSlaveSdos(slavePosition, false);
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    }
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}
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/****************************************************************************/
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void listSlaveSdos(
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		uint16_t slavePosition,
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		bool withHeader
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		)
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{
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    ec_ioctl_slave_t slave;
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    ec_ioctl_slave_sdo_t sdo;
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    ec_ioctl_slave_sdo_entry_t entry;
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    unsigned int i, j;
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    const CoEDataType *d;
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    masterDev.getSlave(&slave, slavePosition);
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    if (withHeader)
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        cout << "=== Slave " << slavePosition << " ===" << endl;
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    for (i = 0; i < slave.sdo_count; i++) {
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        masterDev.getSdo(&sdo, slavePosition, i);
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        cout << "Sdo 0x"
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            << hex << setfill('0')
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            << setw(4) << sdo.sdo_index
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            << ", \"" << sdo.name << "\"" << endl;
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        if (verbosity == Quiet)
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            continue;
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        for (j = 0; j <= sdo.max_subindex; j++) {
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            masterDev.getSdoEntry(&entry, slavePosition, -i, j);
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            cout << "  0x" << hex << setfill('0')
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                << setw(4) << sdo.sdo_index << ":"
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                << setw(2) << (unsigned int) entry.sdo_entry_subindex
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                << ", ";
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            if ((d = findDataType(entry.data_type))) {
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                cout << d->name;
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            } else {
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                cout << "type " << setw(4) << entry.data_type;
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            }
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            cout << ", " << dec << entry.bit_length << " bit, \""
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                << entry.description << "\"" << endl;
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        }
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    }
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}
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/*****************************************************************************/