tool/SdoCommand.h
author Dominik Staubli <ch1010252@ch10pc423>
Thu, 21 Jan 2010 11:09:31 +0100
changeset 1798 e7733f825982
parent 1363 11c0b2caa253
child 1835 20748e9d2238
permissions -rw-r--r--
Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
This bug occurs if you configure more than one SM in the same direction on the same slave
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/*****************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 ****************************************************************************/
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#ifndef __SDOCOMMAND_H__
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#define __SDOCOMMAND_H__
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#include "Command.h"
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/****************************************************************************/
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class SdoCommand:
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    public Command
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{
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    public:
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        SdoCommand(const string &, const string &);
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        struct DataType {
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            const char *name;
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            uint16_t coeCode;
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            unsigned int byteSize;
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        };
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        static const DataType *findDataType(const string &);
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        static const DataType *findDataType(uint16_t);
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        static const char *abortText(uint32_t);
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    private:
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        struct AbortMessage {
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            uint32_t code;
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            const char *message;
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        };
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        static const DataType dataTypes[];
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        static const AbortMessage abortMessages[];
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};
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/****************************************************************************/
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#endif