author | Florian Pose <fp@igh-essen.com> |
Tue, 22 Jul 2008 14:23:41 +0000 | |
changeset 1127 | bd7aef6c310c |
parent 1126 | b09fd81894cb |
child 1130 | bb1c11adb2db |
permissions | -rw-r--r-- |
1126
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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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|
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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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|
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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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/*****************************************************************************/ |