tool/MasterDevice.h
author Florian Pose <fp@igh-essen.com>
Mon, 20 Apr 2009 14:37:30 +0000
changeset 1409 eb1e2540cb02
parent 1388 3c886ec376f5
child 1485 5ddc3a455059
permissions -rw-r--r--
Updated graph for slave configuration FSM.
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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 __MASTER_DEVICE_H__
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#define __MASTER_DEVICE_H__
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#include <stdexcept>
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#include <sstream>
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using namespace std;
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#include "../include/ecrt.h"
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#include "../master/ioctl.h"
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/****************************************************************************/
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class MasterDeviceException:
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    public runtime_error
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{
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    friend class MasterDevice;
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    protected:
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        /** Constructor with string parameter. */
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        MasterDeviceException(
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                const string &s /**< Message. */
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                ): runtime_error(s) {}
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        /** Constructor with stringstream parameter. */
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        MasterDeviceException(
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                const stringstream &s /**< Message. */
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                ): runtime_error(s.str()) {}
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};
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/****************************************************************************/
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class MasterDeviceSdoAbortException:
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    public MasterDeviceException 
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{
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    friend class MasterDevice;
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    public:
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        uint32_t abortCode;
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    protected:
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        /** Constructor with stringstream parameter. */
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        MasterDeviceSdoAbortException(uint32_t code):
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            MasterDeviceException("SDO transfer aborted.") {
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                abortCode = code;
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            };
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};
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/****************************************************************************/
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class MasterDevice
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{
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    public:
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        MasterDevice();
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        ~MasterDevice();
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        void setIndex(unsigned int);
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		unsigned int getIndex() const;
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        enum Permissions {Read, ReadWrite};
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        void open(Permissions);
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        void close();
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        void getMaster(ec_ioctl_master_t *);
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        void getConfig(ec_ioctl_config_t *, unsigned int);
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        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
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                uint16_t);
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        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
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                uint8_t, uint16_t, uint8_t);
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        void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
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        void getDomain(ec_ioctl_domain_t *, unsigned int);
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        void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
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        void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
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                unsigned char *);
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        void getSlave(ec_ioctl_slave_t *, uint16_t);
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        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
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        void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
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        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
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                uint8_t, uint8_t);
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        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
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        void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
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        void readSii(ec_ioctl_slave_sii_t *);
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        void writeSii(ec_ioctl_slave_sii_t *);
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        void readReg(ec_ioctl_slave_reg_t *);
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        void writeReg(ec_ioctl_slave_reg_t *);
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		void setDebug(unsigned int);
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		void sdoDownload(ec_ioctl_slave_sdo_download_t *);
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		void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
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		void requestState(uint16_t, uint8_t);
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		void readFoe(ec_ioctl_slave_foe_t *);
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        void writeFoe(ec_ioctl_slave_foe_t *);
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    private:
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        unsigned int index;
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        int fd;
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};
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/****************************************************************************/
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inline unsigned int MasterDevice::getIndex() const
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{
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	return index;
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}
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/****************************************************************************/
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#endif