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1 /***************************************************************************** |
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2 * |
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3 * $Id: CommandXml.cpp 1778 2009-06-16 08:04:50Z fp $ |
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4 * |
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5 * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it and/or |
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10 * modify it under the terms of the GNU General Public License version 2, as |
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11 * published by the Free Software Foundation. |
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12 * |
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13 * The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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14 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 * Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU General Public License along |
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19 * with the IgH EtherCAT Master; if not, write to the Free Software |
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20 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 ****************************************************************************/ |
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29 |
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30 #include <iostream> |
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31 #include <iomanip> |
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32 #include <string.h> |
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33 using namespace std; |
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34 |
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35 #include "CommandCStruct.h" |
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36 |
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37 /*****************************************************************************/ |
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38 |
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39 CommandCStruct::CommandCStruct(): |
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40 Command("cstruct", "Generate slave PDO information in C language.") |
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41 { |
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42 } |
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43 |
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44 /*****************************************************************************/ |
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45 |
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46 string CommandCStruct::helpString() const |
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47 { |
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48 stringstream str; |
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49 |
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50 str << getName() << " [OPTIONS]" << endl |
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51 << endl |
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52 << getBriefDescription() << endl |
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53 << endl |
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54 << "The output C code can be used directly with the" << endl |
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55 << "ecrt_slave_config_pdos() function of the application" << endl |
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56 << "interface." << endl |
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57 << endl |
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58 << "Command-specific options:" << endl |
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59 << " --alias -a <alias>" << endl |
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60 << " --position -p <pos> Slave selection. See the help of" << endl |
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61 << " the 'slaves' command." << endl |
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62 << endl |
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63 << numericInfo(); |
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64 |
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65 return str.str(); |
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66 } |
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67 |
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68 /****************************************************************************/ |
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69 |
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70 void CommandCStruct::execute(MasterDevice &m, const StringVector &args) |
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71 { |
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72 SlaveList slaves; |
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73 SlaveList::const_iterator si; |
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74 |
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75 if (args.size()) { |
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76 stringstream err; |
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77 err << "'" << getName() << "' takes no arguments!"; |
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78 throwInvalidUsageException(err); |
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79 } |
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80 |
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81 m.open(MasterDevice::Read); |
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82 slaves = selectedSlaves(m); |
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83 |
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84 for (si = slaves.begin(); si != slaves.end(); si++) { |
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85 generateSlaveCStruct(m, *si); |
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86 } |
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87 } |
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88 |
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89 /****************************************************************************/ |
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90 |
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91 void CommandCStruct::generateSlaveCStruct( |
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92 MasterDevice &m, |
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93 const ec_ioctl_slave_t &slave |
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94 ) |
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95 { |
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96 ec_ioctl_slave_sync_t sync; |
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97 ec_ioctl_slave_sync_pdo_t pdo; |
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98 ec_ioctl_slave_sync_pdo_entry_t entry; |
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99 unsigned int i, j, k, pdo_pos = 0, entry_pos = 0; |
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100 stringstream id, syncs, pdos, entries; |
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101 |
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102 if (!slave.sync_count) |
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103 return; |
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104 |
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105 id << "slave_" << dec << slave.position << "_"; |
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106 |
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107 for (i = 0; i < slave.sync_count; i++) { |
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108 m.getSync(&sync, slave.position, i); |
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109 |
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110 syncs << " {" << dec << sync.sync_index |
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111 << ", " << (EC_READ_BIT(&sync.control_register, 2) ? |
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112 "EC_DIR_OUTPUT" : "EC_DIR_INPUT") |
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113 << ", " << dec << (unsigned int) sync.pdo_count |
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114 << ", "; |
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115 if (sync.pdo_count) { |
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116 syncs << id.str() << "pdos + " << dec << pdo_pos; |
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117 } else { |
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118 syncs << "NULL"; |
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119 } |
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120 syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ? |
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121 "EC_WD_ENABLE" : "EC_WD_DISABLE") |
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122 << "},"; |
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123 syncs << endl; |
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124 pdo_pos += sync.pdo_count; |
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125 |
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126 for (j = 0; j < sync.pdo_count; j++) { |
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127 m.getPdo(&pdo, slave.position, i, j); |
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128 |
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129 pdos << " {0x" << hex << setfill('0') |
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130 << setw(4) << pdo.index |
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131 << ", " << dec << (unsigned int) pdo.entry_count |
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132 << ", "; |
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133 if (pdo.entry_count) { |
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134 pdos << id.str() << "pdo_entries + " << dec << entry_pos; |
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135 } else { |
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136 pdos << "NULL"; |
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137 } |
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138 pdos << "},"; |
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139 if (strlen((const char *) pdo.name)) { |
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140 pdos << " /* " << pdo.name << " */"; |
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141 } |
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142 pdos << endl; |
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143 entry_pos += pdo.entry_count; |
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144 |
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145 for (k = 0; k < pdo.entry_count; k++) { |
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146 m.getPdoEntry(&entry, slave.position, i, j, k); |
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147 |
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148 entries << " {0x" << hex << setfill('0') |
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149 << setw(4) << entry.index |
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150 << ", 0x" << setw(2) << (unsigned int) entry.subindex |
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151 << ", " << dec << (unsigned int) entry.bit_length |
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152 << "},"; |
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153 if (strlen((const char *) entry.name)) { |
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154 entries << " /* " << entry.name << " */"; |
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155 } |
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156 entries << endl; |
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157 } |
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158 } |
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159 } |
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160 |
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161 cout |
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162 << "/* Slave " << slave.position; |
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163 if (strlen(slave.order)) { |
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164 cout << ", \"" << slave.order << "\""; |
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165 } |
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166 |
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167 cout << endl |
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168 << " * Vendor ID: 0x" << hex << setfill('0') |
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169 << setw(8) << slave.vendor_id << endl |
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170 << " * Product code: 0x" << hex << setfill('0') |
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171 << setw(8) << slave.product_code << endl |
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172 << " * Revision number: 0x" << hex << setfill('0') |
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173 << setw(8) << slave.revision_number << endl |
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174 << " */" << endl |
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175 << endl; |
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176 |
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177 if (entry_pos) { |
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178 cout << "ec_pdo_entry_info_t " << id.str() |
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179 << "pdo_entries[] = {" << endl |
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180 << entries.str() |
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181 << "};" << endl |
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182 << endl; |
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183 } |
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184 |
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185 if (pdo_pos) { |
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186 cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl |
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187 << pdos.str() |
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188 << "};" << endl |
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189 << endl; |
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190 } |
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191 |
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192 cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl |
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193 << syncs.str() |
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194 << "};" << endl |
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195 << endl; |
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196 } |
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197 |
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198 /*****************************************************************************/ |