tool/MasterDevice.cpp
author Florian Pose <fp@igh-essen.com>
Thu, 09 Jul 2009 14:05:36 +0000
changeset 1492 c44308ec691b
parent 1485 5ddc3a455059
child 1516 e3b09f847512
permissions -rw-r--r--
Zero mailbox datagram before sending.
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 ****************************************************************************/
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <string.h>
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#include <unistd.h>
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#include <sstream>
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#include <iomanip>
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using namespace std;
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#include "MasterDevice.h"
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/****************************************************************************/
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MasterDevice::MasterDevice()
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{
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    index = 0;
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    fd = -1;
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}
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/****************************************************************************/
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MasterDevice::~MasterDevice()
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{
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    close();
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}
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/****************************************************************************/
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void MasterDevice::setIndex(unsigned int i)
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{
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    index = i;
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}
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/****************************************************************************/
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void MasterDevice::open(Permissions perm)
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{
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    stringstream deviceName;
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    if (fd == -1) { // not already open
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		deviceName << "/dev/EtherCAT" << index;
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		if ((fd = ::open(deviceName.str().c_str(),
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						perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
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			stringstream err;
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			err << "Failed to open master device " << deviceName.str() << ": "
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				<< strerror(errno);
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			throw MasterDeviceException(err);
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		}
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    }
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}
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/****************************************************************************/
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void MasterDevice::close()
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{
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    if (fd != -1) {
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		::close(fd);
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		fd = -1;
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	}
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}
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/****************************************************************************/
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void MasterDevice::getMaster(ec_ioctl_master_t *data)
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{
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    if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
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        stringstream err;
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        err << "Failed to get master information: " << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)
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{
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    data->config_index = index;
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    if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
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        stringstream err;
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        err << "Failed to get slave configuration: " << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getConfigPdo(
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        ec_ioctl_config_pdo_t *data,
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        unsigned int index,
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        uint8_t sync_index,
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        uint16_t pdo_pos
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        )
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{
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    data->config_index = index;
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    data->sync_index = sync_index;
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    data->pdo_pos = pdo_pos;
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    if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
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        stringstream err;
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        err << "Failed to get slave config PDO: " << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getConfigPdoEntry(
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        ec_ioctl_config_pdo_entry_t *data,
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        unsigned int index,
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        uint8_t sync_index,
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        uint16_t pdo_pos,
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        uint8_t entry_pos
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        )
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{
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    data->config_index = index;
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    data->sync_index = sync_index;
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    data->pdo_pos = pdo_pos;
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    data->entry_pos = entry_pos;
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    if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
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        stringstream err;
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        err << "Failed to get slave config PDO entry: " << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getConfigSdo(
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        ec_ioctl_config_sdo_t *data,
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        unsigned int index,
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        unsigned int sdo_pos
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        )
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{
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    data->config_index = index;
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    data->sdo_pos = sdo_pos;
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    if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
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        stringstream err;
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        err << "Failed to get slave config SDO: " << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
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{
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    data->index = index;
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    if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
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        stringstream err;
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        err << "Failed to get domain: ";
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        if (errno == EINVAL)
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            err << "Domain " << index << " does not exist!";
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        else
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            err << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getData(ec_ioctl_domain_data_t *data,
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        unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)
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{
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    data->domain_index = domainIndex;
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    data->data_size = dataSize;
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    data->target = mem;
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    if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
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        stringstream err;
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        err << "Failed to get domain data: " << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
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{
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    slave->position = slaveIndex;
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    if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
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        stringstream err;
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        err << "Failed to get slave: ";
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        if (errno == EINVAL)
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            err << "Slave " << slaveIndex << " does not exist!";
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        else
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            err << strerror(errno);
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        throw MasterDeviceException(err);
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    }
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}
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/****************************************************************************/
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void MasterDevice::getFmmu(
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        ec_ioctl_domain_fmmu_t *fmmu,
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        unsigned int domainIndex,
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        unsigned int fmmuIndex
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        )
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{
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    fmmu->domain_index = domainIndex;
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    fmmu->fmmu_index = fmmuIndex;
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    if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
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        stringstream err;
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        err << "Failed to get domain FMMU: " << strerror(errno);
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        throw MasterDeviceException(err);
1122
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    }
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}
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/****************************************************************************/
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void MasterDevice::getSync(
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        ec_ioctl_slave_sync_t *sync,
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        uint16_t slaveIndex,
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        uint8_t syncIndex
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        )
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{
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    sync->slave_position = slaveIndex;
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    sync->sync_index = syncIndex;
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    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
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        stringstream err;
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        err << "Failed to get sync manager: " << strerror(errno);
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        throw MasterDeviceException(err);
1122
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    }
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}
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/****************************************************************************/
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void MasterDevice::getPdo(
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        ec_ioctl_slave_sync_pdo_t *pdo,
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        uint16_t slaveIndex,
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        uint8_t syncIndex,
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        uint8_t pdoPos
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        )
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{
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    pdo->slave_position = slaveIndex;
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    pdo->sync_index = syncIndex;
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    pdo->pdo_pos = pdoPos;
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    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
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        stringstream err;
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        err << "Failed to get PDO: " << strerror(errno);
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        throw MasterDeviceException(err);
1122
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    }
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}
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/****************************************************************************/
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void MasterDevice::getPdoEntry(
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        ec_ioctl_slave_sync_pdo_entry_t *entry,
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        uint16_t slaveIndex,
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        uint8_t syncIndex,
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        uint8_t pdoPos,
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        uint8_t entryPos
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        )
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{
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    entry->slave_position = slaveIndex;
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    entry->sync_index = syncIndex;
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    entry->pdo_pos = pdoPos;
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    entry->entry_pos = entryPos;
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    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
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        stringstream err;
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   301
        err << "Failed to get PDO entry: " << strerror(errno);
1136
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        throw MasterDeviceException(err);
1122
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    }
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}
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/****************************************************************************/
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void MasterDevice::getSdo(
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        ec_ioctl_slave_sdo_t *sdo,
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        uint16_t slaveIndex,
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   311
        uint16_t sdoPosition
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diff changeset
   312
        )
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   313
{
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   314
    sdo->slave_position = slaveIndex;
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   315
    sdo->sdo_position = sdoPosition;
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   316
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   317
    if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
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   318
        stringstream err;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff changeset
   319
        err << "Failed to get SDO: " << strerror(errno);
1136
a0982873d655 Improved exceptions and commandName usage.
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diff changeset
   320
        throw MasterDeviceException(err);
1122
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diff changeset
   321
    }
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   322
}
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/****************************************************************************/
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   325
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   326
void MasterDevice::getSdoEntry(
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parents:
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   327
        ec_ioctl_slave_sdo_entry_t *entry,
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   328
        uint16_t slaveIndex,
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parents:
diff changeset
   329
        int sdoSpec,
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parents:
diff changeset
   330
        uint8_t entrySubindex
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parents:
diff changeset
   331
        )
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parents:
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   332
{
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   333
    entry->slave_position = slaveIndex;
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parents:
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   334
    entry->sdo_spec = sdoSpec;
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parents:
diff changeset
   335
    entry->sdo_entry_subindex = entrySubindex;
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   336
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parents:
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   337
    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
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parents:
diff changeset
   338
        stringstream err;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1238
diff changeset
   339
        err << "Failed to get SDO entry: " << strerror(errno);
1136
a0982873d655 Improved exceptions and commandName usage.
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parents: 1135
diff changeset
   340
        throw MasterDeviceException(err);
1122
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parents:
diff changeset
   341
    }
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parents:
diff changeset
   342
}
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parents:
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   343
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   344
/****************************************************************************/
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parents:
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   345
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parents:
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   346
void MasterDevice::readSii(
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parents:
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   347
        ec_ioctl_slave_sii_t *data
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parents:
diff changeset
   348
        )
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parents:
diff changeset
   349
{
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parents:
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   350
    if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {
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parents:
diff changeset
   351
        stringstream err;
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parents:
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   352
        err << "Failed to read SII: " << strerror(errno);
1136
a0982873d655 Improved exceptions and commandName usage.
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parents: 1135
diff changeset
   353
        throw MasterDeviceException(err);
1122
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parents:
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   354
    }
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parents:
diff changeset
   355
}
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parents:
diff changeset
   356
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   357
/****************************************************************************/
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parents:
diff changeset
   358
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parents:
diff changeset
   359
void MasterDevice::writeSii(
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parents:
diff changeset
   360
        ec_ioctl_slave_sii_t *data
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parents:
diff changeset
   361
        )
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parents:
diff changeset
   362
{
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parents:
diff changeset
   363
    if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {
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parents:
diff changeset
   364
        stringstream err;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
        err << "Failed to write SII: " << strerror(errno);
1136
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1135
diff changeset
   366
        throw MasterDeviceException(err);
1122
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parents:
diff changeset
   367
    }
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parents:
diff changeset
   368
}
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parents:
diff changeset
   369
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   370
/****************************************************************************/
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parents:
diff changeset
   371
1388
3c886ec376f5 Renamed phy_ commands to reg_.
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parents: 1363
diff changeset
   372
void MasterDevice::readReg(
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   373
        ec_ioctl_slave_reg_t *data
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   374
        )
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   375
{
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   376
    if (ioctl(fd, EC_IOCTL_SLAVE_REG_READ, data) < 0) {
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   377
        stringstream err;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   378
        err << "Failed to read register: " << strerror(errno);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   379
        throw MasterDeviceException(err);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   380
    }
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   381
}
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   382
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   383
/****************************************************************************/
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   384
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   385
void MasterDevice::writeReg(
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   386
        ec_ioctl_slave_reg_t *data
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   387
        )
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   388
{
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   389
    if (ioctl(fd, EC_IOCTL_SLAVE_REG_WRITE, data) < 0) {
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   390
        stringstream err;
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   391
        err << "Failed to write register: " << strerror(errno);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   392
        throw MasterDeviceException(err);
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   393
    }
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   394
}
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   395
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   396
/****************************************************************************/
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   397
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   398
void MasterDevice::readFoe(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   399
        ec_ioctl_slave_foe_t *data
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   400
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   401
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   402
    if (ioctl(fd, EC_IOCTL_SLAVE_FOE_READ, data) < 0) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   403
        stringstream err;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   404
        err << "Failed to read via FoE: " << strerror(errno);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   405
        throw MasterDeviceException(err);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   406
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   407
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   408
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   409
/****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   410
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   411
void MasterDevice::writeFoe(
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   412
        ec_ioctl_slave_foe_t *data
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   413
        )
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   414
{
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   415
    if (ioctl(fd, EC_IOCTL_SLAVE_FOE_WRITE, data) < 0) {
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   416
        stringstream err;
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   417
        err << "Failed to write via FoE: " << strerror(errno);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   418
        throw MasterDeviceException(err);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   419
    }
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   420
}
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   421
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   422
/****************************************************************************/
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   423
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   424
void MasterDevice::setDebug(unsigned int debugLevel)
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   425
{
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   426
    if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   427
        stringstream err;
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   428
        err << "Failed to set debug level: " << strerror(errno);
1136
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1135
diff changeset
   429
        throw MasterDeviceException(err);
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   430
	}
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   431
}
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   432
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   433
/****************************************************************************/
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   434
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   435
void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   436
{
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   437
    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   438
        stringstream err;
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   439
        if (errno == EIO && data->abort_code) {
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   440
            throw MasterDeviceSdoAbortException(data->abort_code);
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   441
        } else {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1238
diff changeset
   442
            err << "Failed to download SDO: " << strerror(errno);
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   443
            throw MasterDeviceException(err);
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   444
        }
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   445
	}
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   446
}
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   447
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   448
/****************************************************************************/
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   449
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   450
void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   451
{
1135
807ec6498502 Fixed sdoUpload().
Florian Pose <fp@igh-essen.com>
parents: 1126
diff changeset
   452
    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) {
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   453
        stringstream err;
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   454
        if (errno == EIO && data->abort_code) {
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   455
            throw MasterDeviceSdoAbortException(data->abort_code);
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   456
        } else {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1238
diff changeset
   457
            err << "Failed to upload SDO: " << strerror(errno);
1184
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents: 1160
diff changeset
   458
            throw MasterDeviceException(err);
1126
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   459
        }
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   460
    }
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   461
}
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   462
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   463
/****************************************************************************/
b09fd81894cb Moved every command into a separate file.
Florian Pose <fp@igh-essen.com>
parents: 1122
diff changeset
   464
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
void MasterDevice::requestState(
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
        uint16_t slavePosition,
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
        uint8_t state
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        )
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
{
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
    ec_ioctl_slave_state_t data;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
    data.slave_position = slavePosition;
1148
1762296870bd Renamed state field to al_state.
Florian Pose <fp@igh-essen.com>
parents: 1136
diff changeset
   473
    data.al_state = state;
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
    
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
    if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
        stringstream err;
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        err << "Failed to request slave state: ";
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
        if (errno == EINVAL)
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
            err << "Slave " << slavePosition << " does not exist!";
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
        else
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
            err << strerror(errno);
1136
a0982873d655 Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents: 1135
diff changeset
   482
        throw MasterDeviceException(err);
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
    }
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
}
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   486
/****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   487
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   488
void MasterDevice::getEoeHandler(
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   489
        ec_ioctl_eoe_handler_t *eoe,
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   490
        uint16_t eoeHandlerIndex
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   491
        )
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   492
{
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   493
    eoe->eoe_index = eoeHandlerIndex;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   494
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   495
    if (ioctl(fd, EC_IOCTL_EOE_HANDLER, eoe)) {
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   496
        stringstream err;
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   497
        err << "Failed to get EoE handler: " << strerror(errno);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   498
        throw MasterDeviceException(err);
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   499
    }
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   500
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   501
1122
ee305a780a02 First step of moving to command list.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
/*****************************************************************************/