--- a/tool/CommandPdos.cpp Thu Sep 06 14:21:02 2012 +0200
+++ b/tool/CommandPdos.cpp Mon Nov 03 15:20:05 2014 +0100
@@ -29,6 +29,7 @@
#include <iostream>
#include <iomanip>
+#include <cstring>
using namespace std;
#include "CommandPdos.h"
@@ -51,7 +52,8 @@
<< endl
<< getBriefDescription() << endl
<< endl
- << "The information is displayed in three layers, which are" << endl
+ << "For the default skin (see --skin option) the information" << endl
+ << "is displayed in three layers, which are" << endl
<< "indented accordingly:" << endl
<< endl
<< "1) Sync managers - Contains the sync manager information" << endl
@@ -77,10 +79,16 @@
<< "information can either originate from the SII or from the" << endl
<< "CoE communication area." << endl
<< endl
+ << "The \"etherlab\" skin outputs a template configuration" << endl
+ << "for EtherLab's generic EtherCAT slave block." << endl
+ << endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
+ << " --skin -s <skin> Choose output skin. Possible values are"
+ << endl
+ << " \"default\" and \"etherlab\"." << endl
<< endl
<< numericInfo();
@@ -95,26 +103,47 @@
SlaveList slaves;
SlaveList::const_iterator si;
bool showHeader, multiMaster;
-
+
if (args.size()) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
throwInvalidUsageException(err);
}
- masterIndices = getMasterIndices();
- multiMaster = masterIndices.size() > 1;
- MasterIndexList::const_iterator mi;
- for (mi = masterIndices.begin();
- mi != masterIndices.end(); mi++) {
- MasterDevice m(*mi);
- m.open(MasterDevice::Read);
- slaves = selectedSlaves(m);
- showHeader = multiMaster || slaves.size() > 1;
-
- for (si = slaves.begin(); si != slaves.end(); si++) {
- listSlavePdos(m, *si, showHeader);
- }
+ if (getSkin().empty() || getSkin() == "default") {
+ masterIndices = getMasterIndices();
+ multiMaster = masterIndices.size() > 1;
+ MasterIndexList::const_iterator mi;
+ for (mi = masterIndices.begin();
+ mi != masterIndices.end(); mi++) {
+ MasterDevice m(*mi);
+ m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+ showHeader = multiMaster || slaves.size() > 1;
+
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ listSlavePdos(m, *si, showHeader);
+ }
+ }
+ }
+ else if (getSkin() == "etherlab") {
+ masterIndices = getMasterIndices();
+ MasterIndexList::const_iterator mi;
+ for (mi = masterIndices.begin();
+ mi != masterIndices.end(); mi++) {
+ MasterDevice m(*mi);
+ m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ etherlabConfig(m, *si);
+ }
+ }
+ }
+ else {
+ stringstream err;
+ err << "Invalid skin '" << getSkin() << "'!";
+ throwInvalidUsageException(err);
}
}
@@ -130,7 +159,7 @@
ec_ioctl_slave_sync_pdo_t pdo;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
-
+
if (showHeader && slave.sync_count)
cout << "=== Master " << m.getIndex()
<< ", Slave " << slave.position << " ===" << endl;
@@ -177,4 +206,111 @@
}
}
+/****************************************************************************/
+
+void CommandPdos::etherlabConfig(
+ MasterDevice &m,
+ const ec_ioctl_slave_t &slave
+ )
+{
+ ec_ioctl_slave_sync_t sync;
+ ec_ioctl_slave_sync_pdo_t pdo;
+ ec_ioctl_slave_sync_pdo_entry_t entry;
+ unsigned int i, j, k;
+
+ cout << "%" << endl
+ << "% Master " << m.getIndex() << ", Slave " << slave.position;
+ if (strlen(slave.order)) {
+ cout << ", \"" << slave.order << "\"";
+ }
+ cout << endl
+ << "%" << endl
+ << "function rv = slave" << slave.position << "()" << endl << endl;
+
+ cout << "% Slave configuration" << endl << endl;
+
+ cout << "rv.SlaveConfig.vendor = " << slave.vendor_id << ";" << endl
+ << "rv.SlaveConfig.product = hex2dec('"
+ << hex << setfill('0') << setw(8) << slave.product_code << "');"
+ << endl
+ << "rv.SlaveConfig.description = '" << slave.order << "';" << endl
+ << "rv.SlaveConfig.sm = { ..." << endl;
+
+ /* slave configuration */
+ for (i = 0; i < slave.sync_count; i++) {
+ m.getSync(&sync, slave.position, i);
+
+ cout << " {" << dec << i << ", "
+ << (sync.control_register & 0x04 ? 0 : 1) << ", {" << endl;
+
+ for (j = 0; j < sync.pdo_count; j++) {
+ m.getPdo(&pdo, slave.position, i, j);
+
+ cout << " {hex2dec('" <<
+ hex << setfill('0') << setw(4) << pdo.index << "'), ["
+ << endl;
+
+ for (k = 0; k < pdo.entry_count; k++) {
+ m.getPdoEntry(&entry, slave.position, i, j, k);
+
+ cout << " hex2dec('"
+ << hex << setfill('0') << setw(4) << entry.index
+ << "'), hex2dec('"
+ << setw(2) << (unsigned int) entry.subindex
+ << "'), " << dec << setfill(' ') << setw(3)
+ << (unsigned int) entry.bit_length
+ << "; ..." << endl;
+ }
+
+ cout << " ]}, ..." << endl;
+ }
+ cout << " }}, ..." << endl;
+ }
+
+ cout << " };" << endl << endl;
+
+ cout << "% Port configuration" << endl << endl;
+
+ unsigned int input = 1, output = 1;
+ for (i = 0; i < slave.sync_count; i++) {
+ m.getSync(&sync, slave.position, i);
+
+ for (j = 0; j < sync.pdo_count; j++) {
+ m.getPdo(&pdo, slave.position, i, j);
+
+ for (k = 0; k < pdo.entry_count; k++) {
+ m.getPdoEntry(&entry, slave.position, i, j, k);
+
+ if (!entry.index) {
+ continue;
+ }
+
+ string dir;
+ unsigned int port;
+
+ if (sync.control_register & 0x04) {
+ dir = "input";
+ port = input++;
+ }
+ else {
+ dir = "output";
+ port = output++;
+ }
+
+ stringstream var;
+ var << "rv.PortConfig." << dir << "(" << dec << port
+ << ")";
+
+ cout << var.str() << ".pdo = ["
+ << i << ", " << j << ", " << k << ", 0];" << endl;
+ cout << var.str() << ".pdo_data_type = "
+ << 1000 + (unsigned int) entry.bit_length
+ << ";" << endl << endl;
+ }
+ }
+ }
+
+ cout << "end" << endl;
+}
+
/*****************************************************************************/