1

/*****************************************************************************

     2

 *

     3

 * $Id$

     4

 *

     5

 ****************************************************************************/

     6

     7

#include <sys/types.h>

     8

#include <sys/stat.h>

     9

#include <fcntl.h>

    10

#include <errno.h>

    11

#include <sys/ioctl.h>

    12

    13

#include <iostream>

    14

#include <iomanip>

    15

#include <sstream>

    16

#include <fstream>

    17

#include <cctype> // toupper()

    18

#include <list>

    19

using namespace std;

    20

    21

#include "Master.h"

    22

    23

#define swap16(x) \

    24

        ((uint16_t)( \

    25

        (((uint16_t)(x) & 0x00ffU) << 8) | \

    26

        (((uint16_t)(x) & 0xff00U) >> 8) ))

    27

#define swap32(x) \

    28

        ((uint32_t)( \

    29

        (((uint32_t)(x) & 0x000000ffUL) << 24) | \

    30

        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \

    31

        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \

    32

        (((uint32_t)(x) & 0xff000000UL) >> 24) ))

    33

    34

#if __BYTE_ORDER == __LITTLE_ENDIAN

    35

    36

#define le16tocpu(x) x

    37

#define le32tocpu(x) x

    38

    39

#define cputole16(x) x

    40

#define cputole32(x) x

    41

    42

#elif __BYTE_ORDER == __BIG_ENDIAN

    43

    44

#define le16tocpu(x) swap16(x)

    45

#define le32tocpu(x) swap32(x)

    46

    47

#define cputole16(x) swap16(x)

    48

#define cputole32(x) swap32(x)

    49

    50

#endif

    51

    52

/****************************************************************************/

    53

    54

struct CoEDataType {

    55

    const char *name;

    56

    uint16_t coeCode;

    57

    unsigned int byteSize;

    58

};

    59

    60

static const CoEDataType dataTypes[] = {

    61

    {"int8",   0x0002, 1},

    62

    {"int16",  0x0003, 2},

    63

    {"int32",  0x0004, 4},

    64

    {"uint8",  0x0005, 1},

    65

    {"uint16", 0x0006, 2},

    66

    {"uint32", 0x0007, 4},

    67

    {"string", 0x0009, 0},

    68

    {"raw",    0xffff, 0},

    69

    {}

    70

};

    71

    72

/****************************************************************************/

    73

    74

const CoEDataType *findDataType(const string &str)

    75

{

    76

    const CoEDataType *d;

    77

    78

    for (d = dataTypes; d->name; d++)

    79

        if (str == d->name)

    80

            return d;

    81

    82

    return NULL;

    83

}

    84

    85

/****************************************************************************/

    86

    87

const CoEDataType *findDataType(uint16_t code)

    88

{

    89

    const CoEDataType *d;

    90

    91

    for (d = dataTypes; d->name; d++)

    92

        if (code == d->coeCode)

    93

            return d;

    94

    95

    return NULL;

    96

}

    97

    98

/****************************************************************************/

    99

   100

Master::Master()

   101

{

   102

    index = 0;

   103

    fd = -1;

   104

}

   105

   106

/****************************************************************************/

   107

   108

Master::~Master()

   109

{

   110

    close();

   111

}

   112

   113

/****************************************************************************/

   114

   115

void Master::setIndex(unsigned int i)

   116

{

   117

    index = i;

   118

}

   119

   120

/*****************************************************************************/

   121

   122

/**

   123

 * Writes the Secondary slave address (alias) to the slave's SII.

   124

 */

   125

void Master::writeAlias(

   126

        int slavePosition,

   127

        bool force,

   128

        const vector<string> &commandArgs

   129

        )

   130

{

   131

    ec_ioctl_slave_sii_t data;

   132

    ec_ioctl_slave_t slave;

   133

    unsigned int i;

   134

    uint16_t alias;

   135

    stringstream err, strAlias;

   136

    int number;

   137

   138

    if (commandArgs.size() != 1) {

   139

        stringstream err;

   140

        err << "'alias' takes exactly one argument!";

   141

        throw MasterException(err.str());

   142

    }

   143

   144

    strAlias << commandArgs[0];

   145

    strAlias

   146

        >> resetiosflags(ios::basefield) // guess base from prefix

   147

        >> number;

   148

    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {

   149

        err << "Invalid alias '" << commandArgs[0] << "'!";

   150

        throw MasterException(err.str());

   151

    }

   152

    alias = number;

   153

   154

    if (slavePosition == -1) {

   155

        unsigned int numSlaves, i;

   156

   157

        if (!force) {

   158

            err << "This will write the alias addresses of all slaves to "

   159

                << alias << "! Please specify --force to proceed.";

   160

            throw MasterException(err.str());

   161

        }

   162

   163

        open(ReadWrite);

   164

        numSlaves = slaveCount();

   165

   166

        for (i = 0; i < numSlaves; i++) {

   167

            writeSlaveAlias(i, alias);

   168

        }

   169

    } else {

   170

        open(ReadWrite);

   171

        writeSlaveAlias(slavePosition, alias);

   172

    }

   173

}

   174

   175

/*****************************************************************************/

   176

   177

/** Lists the bus configuration.

   178

 */

   179

void Master::showConfigs(bool verbose)

   180

{

   181

    if (verbose) {

   182

        showConfigs();

   183

    } else {

   184

        listConfigs();

   185

    }

   186

}

   187

   188

/****************************************************************************/

   189

   190

void Master::outputData(int domainIndex)

   191

{

   192

    open(Read);

   193

   194

    if (domainIndex == -1) {

   195

        unsigned int i;

   196

        ec_ioctl_master_t master;

   197

   198

        getMaster(&master);

   199

   200

        for (i = 0; i < master.domain_count; i++) {

   201

            outputDomainData(i);

   202

        }

   203

    } else {

   204

        outputDomainData(domainIndex);

   205

    }

   206

}

   207

   208

/****************************************************************************/

   209

   210

void Master::setDebug(const vector<string> &commandArgs)

   211

{

   212

    stringstream str;

   213

    int debugLevel;

   214

   215

    if (commandArgs.size() != 1) {

   216

        stringstream err;

   217

        err << "'debug' takes exactly one argument!";

   218

        throw MasterException(err.str());

   219

    }

   220

   221

    str << commandArgs[0];

   222

    str >> resetiosflags(ios::basefield) // guess base from prefix

   223

        >> debugLevel;

   224

   225

    if (str.fail()) {

   226

        stringstream err;

   227

        err << "Invalid debug level '" << commandArgs[0] << "'!";

   228

        throw MasterException(err.str());

   229

    }

   230

   231

    open(ReadWrite);

   232

   233

    if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {

   234

        stringstream err;

   235

        err << "Failed to set debug level: " << strerror(errno);

   236

        throw MasterException(err.str());

   237

    }

   238

}

   239

   240

/****************************************************************************/

   241

   242

void Master::showDomains(int domainIndex)

   243

{

   244

    open(Read);

   245

   246

    if (domainIndex == -1) {

   247

        unsigned int i;

   248

        ec_ioctl_master_t master;

   249

   250

        getMaster(&master);

   251

   252

        for (i = 0; i < master.domain_count; i++) {

   253

            showDomain(i);

   254

        }

   255

    } else {

   256

        showDomain(domainIndex);

   257

    }

   258

}

   259

   260

/****************************************************************************/

   261

   262

void Master::showMaster()

   263

{

   264

    ec_ioctl_master_t data;

   265

    stringstream err;

   266

    unsigned int i;

   267

   268

    open(Read);

   269

    getMaster(&data);

   270

   271

    cout

   272

        << "Master" << index << endl

   273

        << "  Phase: ";

   274

   275

    switch (data.phase) {

   276

        case 0: cout << "Waiting for device..."; break;

   277

        case 1: cout << "Idle"; break;

   278

        case 2: cout << "Operation"; break;

   279

        default:

   280

                err << "Invalid master phase " << data.phase;

   281

                throw MasterException(err.str());

   282

    }

   283

   284

    cout << endl

   285

        << "  Slaves: " << data.slave_count << endl;

   286

   287

    for (i = 0; i < 2; i++) {

   288

        cout << "  Device" << i << ": ";

   289

        if (data.devices[i].address[0] == 0x00

   290

                && data.devices[i].address[1] == 0x00

   291

                && data.devices[i].address[2] == 0x00

   292

                && data.devices[i].address[3] == 0x00

   293

                && data.devices[i].address[4] == 0x00

   294

                && data.devices[i].address[5] == 0x00) {

   295

            cout << "None.";

   296

        } else {

   297

            cout << hex << setfill('0')

   298

                << setw(2) << (unsigned int) data.devices[i].address[0] << ":"

   299

                << setw(2) << (unsigned int) data.devices[i].address[1] << ":"

   300

                << setw(2) << (unsigned int) data.devices[i].address[2] << ":"

   301

                << setw(2) << (unsigned int) data.devices[i].address[3] << ":"

   302

                << setw(2) << (unsigned int) data.devices[i].address[4] << ":"

   303

                << setw(2) << (unsigned int) data.devices[i].address[5] << " ("

   304

                << (data.devices[i].attached ? "attached" : "waiting...")

   305

                << ")" << endl << dec

   306

                << "    Tx count: " << data.devices[i].tx_count << endl

   307

                << "    Rx count: " << data.devices[i].rx_count;

   308

        }

   309

        cout << endl;

   310

    }

   311

}

   312

   313

/****************************************************************************/

   314

   315

void Master::listPdos(int slavePosition, bool quiet)

   316

{

   317

    open(Read);

   318

   319

    if (slavePosition == -1) {

   320

        unsigned int numSlaves = slaveCount(), i;

   321

   322

        for (i = 0; i < numSlaves; i++) {

   323

            listSlavePdos(i, quiet, true);

   324

        }

   325

    } else {

   326

        listSlavePdos(slavePosition, quiet, false);

   327

    }

   328

}

   329

   330

/****************************************************************************/

   331

   332

void Master::listSdos(int slavePosition, bool quiet)

   333

{

   334

    open(Read);

   335

   336

    if (slavePosition == -1) {

   337

        unsigned int numSlaves = slaveCount(), i;

   338

   339

        for (i = 0; i < numSlaves; i++) {

   340

            listSlaveSdos(i, quiet, true);

   341

        }

   342

    } else {

   343

        listSlaveSdos(slavePosition, quiet, false);

   344

    }

   345

}

   346

   347

/****************************************************************************/

   348

   349

void Master::sdoDownload(

   350

        int slavePosition,

   351

        const string &dataTypeStr,

   352

        const vector<string> &commandArgs

   353

        )

   354

{

   355

    stringstream strIndex, strSubIndex, strValue, err;

   356

    ec_ioctl_slave_sdo_download_t data;

   357

    unsigned int i, number;

   358

    const CoEDataType *dataType = NULL;

   359

   360

    if (slavePosition < 0) {

   361

        err << "'sdo_download' requires a slave! Please specify --slave.";

   362

        throw MasterException(err.str());

   363

    }

   364

    data.slave_position = slavePosition;

   365

   366

    if (commandArgs.size() != 3) {

   367

        err << "'sdo_download' takes 3 arguments!";

   368

        throw MasterException(err.str());

   369

    }

   370

   371

    strIndex << commandArgs[0];

   372

    strIndex

   373

        >> resetiosflags(ios::basefield) // guess base from prefix

   374

        >> data.sdo_index;

   375

    if (strIndex.fail()) {

   376

        err << "Invalid Sdo index '" << commandArgs[0] << "'!";

   377

        throw MasterException(err.str());

   378

    }

   379

   380

    strSubIndex << commandArgs[1];

   381

    strSubIndex

   382

        >> resetiosflags(ios::basefield) // guess base from prefix

   383

        >> number;

   384

    if (strSubIndex.fail() || number > 0xff) {

   385

        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";

   386

        throw MasterException(err.str());

   387

    }

   388

    data.sdo_entry_subindex = number;

   389

   390

    if (dataTypeStr != "") { // data type specified

   391

        if (!(dataType = findDataType(dataTypeStr))) {

   392

            err << "Invalid data type '" << dataTypeStr << "'!";

   393

            throw MasterException(err.str());

   394

        }

   395

    } else { // no data type specified: fetch from dictionary

   396

        ec_ioctl_slave_sdo_entry_t entry;

   397

        unsigned int entryByteSize;

   398

   399

        open(ReadWrite);

   400

   401

        try {

   402

            getSdoEntry(&entry, slavePosition,

   403

                    data.sdo_index, data.sdo_entry_subindex);

   404

        } catch (MasterException &e) {

   405

            err << "Failed to determine Sdo entry data type. "

   406

                << "Please specify --type.";

   407

            throw MasterException(err.str());

   408

        }

   409

        if (!(dataType = findDataType(entry.data_type))) {

   410

            err << "Pdo entry has unknown data type 0x"

   411

                << hex << setfill('0') << setw(4) << entry.data_type << "!"

   412

                << " Please specify --type.";

   413

            throw MasterException(err.str());

   414

        }

   415

    }

   416

   417

    if (dataType->byteSize) {

   418

        data.data_size = dataType->byteSize;

   419

    } else {

   420

        data.data_size = DefaultBufferSize;

   421

    }

   422

   423

    data.data = new uint8_t[data.data_size + 1];

   424

   425

    strValue << commandArgs[2];

   426

    strValue >> resetiosflags(ios::basefield); // guess base from prefix

   427

    strValue.exceptions(ios::failbit);

   428

   429

    try {

   430

        switch (dataType->coeCode) {

   431

            case 0x0002: // int8

   432

                {

   433

                    int16_t val; // uint8_t is interpreted as char

   434

                    strValue >> val;

   435

                    if (val > 127 || val < -128)

   436

                        throw ios::failure("Value out of range");

   437

                    *data.data = val;

   438

                    break;

   439

                }

   440

            case 0x0003: // int16

   441

                {

   442

                    int16_t val;

   443

                    strValue >> val;

   444

                    *(int16_t *) data.data = cputole16(val);

   445

                    break;

   446

                }

   447

            case 0x0004: // int32

   448

                {

   449

                    int32_t val;

   450

                    strValue >> val;

   451

                    *(int32_t *) data.data = cputole32(val);

   452

                    break;

   453

                }

   454

            case 0x0005: // uint8

   455

                {

   456

                    uint16_t val; // uint8_t is interpreted as char

   457

                    strValue >> val;

   458

                    if (val > 0xff)

   459

                        throw ios::failure("Value out of range");

   460

                    *data.data = val;

   461

                    break;

   462

                }

   463

            case 0x0006: // uint16

   464

                {

   465

                    uint16_t val;

   466

                    strValue >> val;

   467

                    *(uint16_t *) data.data = cputole16(val);

   468

                    break;

   469

                }

   470

            case 0x0007: // uint32

   471

                {

   472

                    uint32_t val;

   473

                    strValue >> val;

   474

                    *(uint32_t *) data.data = cputole32(val);

   475

                    break;

   476

                }

   477

            case 0x0009: // string

   478

                if (strValue.str().size() >= data.data_size) {

   479

                    err << "String too large";

   480

                    throw MasterException(err.str());

   481

                }

   482

                data.data_size = strValue.str().size();

   483

                strValue >> (char *) data.data;

   484

                break;

   485

   486

            default:

   487

                delete [] data.data;

   488

                err << "Unknown data type 0x" << hex << dataType->coeCode;

   489

                throw MasterException(err.str());

   490

        }

   491

    } catch (ios::failure &e) {

   492

        delete [] data.data;

   493

        err << "Invalid value argument '" << commandArgs[2]

   494

            << "' for type '" << dataType->name << "'!";