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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 "CommandPdos.h"

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

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CommandPdos::CommandPdos():

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    Command("pdos", "List Sync managers, Pdo assignment and mapping.")

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{

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}

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

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string CommandPdos::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS]" << endl

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    	<< endl

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    	<< getBriefDescription() << endl

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        << endl

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    	<< "The information is displayed in three layers, which are" << endl

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    	<< "indented accordingly:" << endl

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    	<< endl

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    	<< "1) Sync managers - Contains the sync manager information" << endl

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    	<< "   from the SII: Index, physical start address, default" << endl

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    	<< "   size (value from the SII), control register and enable" << endl

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    	<< "   word. Example:" << endl

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		<< endl

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    	<< "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "

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		<< "Enable 1" << endl

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    	<< endl

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    	<< "2) Assigned Pdos - Pdo direction, hexadecimal index and" << endl

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		<< "   the Pdo name, if avaliable. Note that a 'Tx' and 'Rx'" << endl

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        << "   are seen from the slave's point of view. Example:" << endl

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    	<< endl

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    	<< "   TxPdo 0x1a00 \"Channel1\"" << endl

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    	<< endl

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    	<< "3) Mapped Pdo entries - Pdo entry index and subindex (both" << endl

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    	<< "   hexadecimal), the length in bit and the description, if" << endl

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    	<< "   available. Example:" << endl

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    	<< endl

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    	<< "   Pdo entry 0x3101:01, 8 bit, \"Status\"" << endl

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    	<< endl

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    	<< "Note, that the displayed Pdo assignment and Pdo mapping" << endl

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    	<< "information can either originate from the SII or from the" << endl

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		<< "CoE communication area." << endl

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    	<< endl

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    	<< "Command-specific options:" << endl

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    	<< "  --slave -s <index>  Positive numerical ring position," << endl

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    	<< "                      or 'all' for all slaves (default)." << endl

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    	<< endl

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		<< numericInfo();

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	return str.str();

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}

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

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void CommandPdos::execute(MasterDevice &m, const StringVector &args)

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{

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    m.open(MasterDevice::Read);

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    if (slavePosition == -1) {

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        unsigned int numSlaves = m.slaveCount(), i;

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

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            listSlavePdos(m, i, true);

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        }

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    } else {

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        listSlavePdos(m, slavePosition, false);

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    }

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}

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

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void CommandPdos::listSlavePdos(

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		MasterDevice &m,

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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_sync_t sync;

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    ec_ioctl_slave_sync_pdo_t pdo;

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    ec_ioctl_slave_sync_pdo_entry_t entry;

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    unsigned int i, j, k;

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    m.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.sync_count; i++) {

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        m.getSync(&sync, slavePosition, i);

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        cout << "SM" << i << ":"

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            << " PhysAddr 0x"

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            << hex << setfill('0')

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            << setw(4) << sync.physical_start_address

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            << ", DefaultSize "

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            << dec << setfill(' ') << setw(4) << sync.default_size

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            << ", ControlRegister 0x"

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            << hex << setfill('0') << setw(2)

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            << (unsigned int) sync.control_register

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            << ", Enable " << dec << (unsigned int) sync.enable

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            << endl;

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        for (j = 0; j < sync.pdo_count; j++) {

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            m.getPdo(&pdo, slavePosition, i, j);

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            cout << "  " << (sync.control_register & 0x04 ? "R" : "T")

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                << "xPdo 0x"

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                << hex << setfill('0')

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                << setw(4) << pdo.index

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                << " \"" << pdo.name << "\"" << endl;

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            if (getVerbosity() == Quiet)

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                continue;

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            for (k = 0; k < pdo.entry_count; k++) {

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                m.getPdoEntry(&entry, slavePosition, i, j, k);

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                cout << "    Pdo entry 0x"

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                    << hex << setfill('0')

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                    << setw(4) << entry.index

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                    << ":" << setw(2) << (unsigned int) entry.subindex

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                    << ", " << dec << (unsigned int) entry.bit_length

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                    << " bit, \"" << entry.name << "\"" << endl;

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            }

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        }

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    }

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}

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