1 /*****************************************************************************

     2  *

     3  * $Id$

     4  *

     5  ****************************************************************************/

     6 

     7 #include <iostream>

     8 #include <iomanip>

     9 using namespace std;

    10 

    11 #include "globals.h"

    12 

    13 /****************************************************************************/

    14 

    15 const char *help_pdos =

    16     "[OPTIONS]\n"

    17     "\n"

    18     "Displays sync managers, assigned Pdos and mapped Pdo entries.\n"

    19     "\n"

    20     "The information is displayed in three layers, which are indented\n"

    21     "accordingly:\n"

    22     "\n"

    23     "1) Sync managers - Contains the sync manager information from the\n"

    24     "   SII: Index, physical start address, default size (raw value from\n"

    25     "   the SII), control register and enable word. Example:\n"

    26     "\n"

    27     "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, Enable 1\n"

    28     "\n"

    29     "2) Assigned Pdos - Pdo direction, hexadecimal index and -if available-\n"

    30     "   the Pdo name. Example:\n"

    31     "\n"

    32     "   TxPdo 0x1a00 \"Channel1\"\n"

    33     "\n"

    34     "3) Mapped Pdo entries - Pdo entry index and subindex (both\n"

    35     "   hexadecimal), the length in bit and -if available- the\n"

    36     "   description. Example:\n"

    37     "\n"

    38     "   Pdo entry 0x3101:01, 8 bit, \"Status\"\n"

    39     "\n"

    40     "Note, that the displayed Pdo assignment and Pdo mapping information\n"

    41     "can either originate from the SII or from the CoE communication area.\n"

    42     "\n"

    43     "Command-specific options:\n"

    44     "  --slave -s <index>  Positive numerical ring position, or 'all' for\n"

    45     "                      all slaves (default).\n"

    46     "\n"

    47     "Numerical values can be specified either with decimal (no prefix),\n"

    48     "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";

    49 

    50 /****************************************************************************/

    51 	

    52 void listSlavePdos(uint16_t, bool);

    53 

    54 /****************************************************************************/

    55 

    56 void command_pdos(void)

    57 {

    58     masterDev.open(MasterDevice::Read);

    59 

    60     if (slavePosition == -1) {

    61         unsigned int numSlaves = masterDev.slaveCount(), i;

    62 

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

    64             listSlavePdos(i, true);

    65         }

    66     } else {

    67         listSlavePdos(slavePosition, false);

    68     }

    69 }

    70 

    71 /****************************************************************************/

    72 

    73 void listSlavePdos(uint16_t slavePosition, bool withHeader)

    74 {

    75     ec_ioctl_slave_t slave;

    76     ec_ioctl_slave_sync_t sync;

    77     ec_ioctl_slave_sync_pdo_t pdo;

    78     ec_ioctl_slave_sync_pdo_entry_t entry;

    79     unsigned int i, j, k;

    80     

    81     masterDev.getSlave(&slave, slavePosition);

    82 

    83     if (withHeader)

    84         cout << "=== Slave " << slavePosition << " ===" << endl;

    85 

    86     for (i = 0; i < slave.sync_count; i++) {

    87         masterDev.getSync(&sync, slavePosition, i);

    88 

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

    90             << " PhysAddr 0x"

    91             << hex << setfill('0')

    92             << setw(4) << sync.physical_start_address

    93             << ", DefaultSize "

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

    95             << ", ControlRegister 0x"

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

    97             << (unsigned int) sync.control_register

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

    99             << endl;

   100 

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

   102             masterDev.getPdo(&pdo, slavePosition, i, j);

   103 

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

   105                 << "xPdo 0x"

   106                 << hex << setfill('0')

   107                 << setw(4) << pdo.index

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

   109 

   110             if (verbosity == Quiet)

   111                 continue;

   112 

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

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

   115 

   116                 cout << "    Pdo entry 0x"

   117                     << hex << setfill('0')

   118                     << setw(4) << entry.index

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

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

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

   122             }

   123         }

   124     }

   125 }

   126 

   127 /*****************************************************************************/