44 << "| | attached." << endl |
44 << "| | attached." << endl |
45 << "| \\- Expected vendor ID and product code (both" << endl |
45 << "| \\- Expected vendor ID and product code (both" << endl |
46 << "| hexadecimal)." << endl |
46 << "| hexadecimal)." << endl |
47 << "\\- Alias address and relative position (both decimal)." << endl |
47 << "\\- Alias address and relative position (both decimal)." << endl |
48 << endl |
48 << endl |
49 << "With the --verbose option given, the configured Pdos and" << endl |
49 << "With the --verbose option given, the configured PDOs and" << endl |
50 << "Sdos are output in addition." << endl |
50 << "SDOs are output in addition." << endl |
51 << endl |
51 << endl |
52 << "Configuration selection:" << endl |
52 << "Configuration selection:" << endl |
53 << " Slave configurations can be selected with" << endl |
53 << " Slave configurations can be selected with" << endl |
54 << " the --alias and --position parameters as follows:" << endl |
54 << " the --alias and --position parameters as follows:" << endl |
55 << endl |
55 << endl |
136 << (configIter->syncs[j].dir == EC_DIR_INPUT |
136 << (configIter->syncs[j].dir == EC_DIR_INPUT |
137 ? "Input" : "Output") << ")" << endl; |
137 ? "Input" : "Output") << ")" << endl; |
138 for (k = 0; k < configIter->syncs[j].pdo_count; k++) { |
138 for (k = 0; k < configIter->syncs[j].pdo_count; k++) { |
139 m.getConfigPdo(&pdo, configIter->config_index, j, k); |
139 m.getConfigPdo(&pdo, configIter->config_index, j, k); |
140 |
140 |
141 cout << " Pdo 0x" << hex << setw(4) << pdo.index << endl; |
141 cout << " PDO 0x" << hex << setw(4) << pdo.index << endl; |
142 |
142 |
143 for (l = 0; l < pdo.entry_count; l++) { |
143 for (l = 0; l < pdo.entry_count; l++) { |
144 m.getConfigPdoEntry(&entry, |
144 m.getConfigPdoEntry(&entry, |
145 configIter->config_index, j, k, l); |
145 configIter->config_index, j, k, l); |
146 |
146 |
147 cout << " Pdo entry 0x" << hex << setfill('0') |
147 cout << " PDO entry 0x" << hex << setfill('0') |
148 << setw(4) << entry.index << ":" |
148 << setw(4) << entry.index << ":" |
149 << setw(2) << (unsigned int) entry.subindex |
149 << setw(2) << (unsigned int) entry.subindex |
150 << ", " << dec << setfill(' ') |
150 << ", " << dec << setfill(' ') |
151 << setw(2) << (unsigned int) entry.bit_length |
151 << setw(2) << (unsigned int) entry.bit_length |
152 << " bit" << endl; |
152 << " bit" << endl; |
153 } |
153 } |
154 } |
154 } |
155 } |
155 } |
156 } |
156 } |
157 |
157 |
158 cout << "Sdo configuration:" << endl; |
158 cout << "SDO configuration:" << endl; |
159 if (configIter->sdo_count) { |
159 if (configIter->sdo_count) { |
160 for (j = 0; j < configIter->sdo_count; j++) { |
160 for (j = 0; j < configIter->sdo_count; j++) { |
161 m.getConfigSdo(&sdo, configIter->config_index, j); |
161 m.getConfigSdo(&sdo, configIter->config_index, j); |
162 |
162 |
163 cout << " 0x" |
163 cout << " 0x" |