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     "\n"

    19     "Command-specific options:\n";

    20 

    21 /****************************************************************************/

    22 	

    23 void listSlavePdos(uint16_t, bool);

    24 

    25 /****************************************************************************/

    26 

    27 void command_pdos(void)

    28 {

    29     masterDev.open(MasterDevice::Read);

    30 

    31     if (slavePosition == -1) {

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

    33 

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

    35             listSlavePdos(i, true);

    36         }

    37     } else {

    38         listSlavePdos(slavePosition, false);

    39     }

    40 }

    41 

    42 /****************************************************************************/

    43 

    44 void listSlavePdos(uint16_t slavePosition, bool withHeader)

    45 {

    46     ec_ioctl_slave_t slave;

    47     ec_ioctl_slave_sync_t sync;

    48     ec_ioctl_slave_sync_pdo_t pdo;

    49     ec_ioctl_slave_sync_pdo_entry_t entry;

    50     unsigned int i, j, k;

    51     

    52     masterDev.getSlave(&slave, slavePosition);

    53 

    54     if (withHeader)

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

    56 

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

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

    59 

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

    61             << " PhysAddr 0x"

    62             << hex << setfill('0')

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

    64             << ", DefaultSize "

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

    66             << ", ControlRegister 0x"

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

    68             << (unsigned int) sync.control_register

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

    70             << endl;

    71 

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

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

    74 

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

    76                 << "xPdo 0x"

    77                 << hex << setfill('0')

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

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

    80 

    81             if (verbosity == Quiet)

    82                 continue;

    83 

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

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

    86 

    87                 cout << "    Pdo entry 0x"

    88                     << hex << setfill('0')

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

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

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

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

    93             }

    94         }

    95     }

    96 }

    97 

    98 /*****************************************************************************/