--- a/tools/Master.cpp Mon Jun 09 10:31:05 2008 +0000
+++ b/tools/Master.cpp Mon Jun 09 12:11:19 2008 +0000
@@ -18,24 +18,33 @@
#include "Master.h"
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-
-#define le16tocpu(x) x
-#define le32tocpu(x) x
-
-#elif __BYTE_ORDER == __BIG_ENDIAN
-
-#define le16tocpu(x) \
+#define swap16(x) \
((uint16_t)( \
(((uint16_t)(x) & 0x00ffU) << 8) | \
(((uint16_t)(x) & 0xff00U) >> 8) ))
-#define le32tocpu(x) \
+#define swap32(x) \
((uint32_t)( \
(((uint32_t)(x) & 0x000000ffUL) << 24) | \
(((uint32_t)(x) & 0x0000ff00UL) << 8) | \
(((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
(((uint32_t)(x) & 0xff000000UL) >> 24) ))
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+
+#define le16tocpu(x) x
+#define le32tocpu(x) x
+
+#define cputole16(x) x
+#define cputole32(x) x
+
+#elif __BYTE_ORDER == __BIG_ENDIAN
+
+#define le16tocpu(x) swap16(x)
+#define le32tocpu(x) swap32(x)
+
+#define cputole16(x) swap16(x)
+#define cputole32(x) swap32(x)
+
#endif
/****************************************************************************/
@@ -300,6 +309,165 @@
/****************************************************************************/
+void Master::sdoDownload(
+ int slavePosition,
+ const string &dataTypeStr,
+ const vector<string> &commandArgs
+ )
+{
+ stringstream strIndex, strSubIndex, strValue, err;
+ int number, sval;
+ ec_ioctl_sdo_download_t data;
+ unsigned int i, uval;
+ const CoEDataType *dataType = NULL;
+
+ if (slavePosition < 0) {
+ err << "'sdo_download' requires a slave! Please specify --slave.";
+ throw MasterException(err.str());
+ }
+ data.slave_position = slavePosition;
+
+ if (commandArgs.size() != 3) {
+ err << "'sdo_download' takes 3 arguments!";
+ throw MasterException(err.str());
+ }
+
+ strIndex << commandArgs[0];
+ strIndex >> hex >> number;
+ if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
+ err << "Invalid Sdo index '" << commandArgs[0] << "'!";
+ throw MasterException(err.str());
+ }
+ data.sdo_index = number;
+
+ strSubIndex << commandArgs[1];
+ strSubIndex >> hex >> number;
+ if (strSubIndex.fail() || number < 0x00 || number > 0xff) {
+ err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+ throw MasterException(err.str());
+ }
+ data.sdo_entry_subindex = number;
+
+ if (dataTypeStr != "") { // data type specified
+ if (!(dataType = findDataType(dataTypeStr))) {
+ err << "Invalid data type '" << dataTypeStr << "'!";
+ throw MasterException(err.str());
+ }
+ } else { // no data type specified: fetch from dictionary
+ ec_ioctl_sdo_entry_t entry;
+ unsigned int entryByteSize;
+
+ open(Read);
+
+ try {
+ getSdoEntry(&entry, slavePosition,
+ data.sdo_index, data.sdo_entry_subindex);
+ } catch (MasterException &e) {
+ err << "Failed to determine Sdo entry data type. "
+ << "Please specify --type.";
+ throw MasterException(err.str());
+ }
+ if (!(dataType = findDataType(entry.data_type))) {
+ err << "Pdo entry has unknown data type 0x"
+ << hex << setfill('0') << setw(4) << entry.data_type << "!"
+ << " Please specify --type.";
+ throw MasterException(err.str());
+ }
+ }
+
+ if (dataType->byteSize) {
+ data.data_size = dataType->byteSize;
+ } else {
+ data.data_size = DefaultBufferSize;
+ }
+
+ data.data = new uint8_t[data.data_size + 1];
+
+ strValue << commandArgs[2];
+
+ switch (dataType->coeCode) {
+ case 0x0002: // int8
+ strValue >> sval;
+ if ((uint32_t) sval > 0xff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *data.data = (int8_t) sval;
+ break;
+ case 0x0003: // int16
+ strValue >> sval;
+ if ((uint32_t) sval > 0xffff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *(int16_t *) data.data = cputole16(sval);
+ break;
+ case 0x0004: // int32
+ strValue >> sval;
+ *(int32_t *) data.data = cputole32(sval);
+ break;
+ case 0x0005: // uint8
+ strValue >> uval;
+ if ((uint32_t) uval > 0xff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *data.data = (uint8_t) uval;
+ break;
+ case 0x0006: // uint16
+ strValue >> uval;
+ if ((uint32_t) uval > 0xffff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *(uint16_t *) data.data = cputole16(uval);
+ break;
+ case 0x0007: // uint32
+ strValue >> uval;
+ *(uint32_t *) data.data = cputole32(uval);
+ break;
+ case 0x0009: // string
+ if (strValue.str().size() >= data.data_size) {
+ err << "String too big";
+ throw MasterException(err.str());
+ }
+ data.data_size = strValue.str().size();
+ strValue >> (char *) data.data;
+ break;
+ default:
+ break;
+ }
+
+ if (strValue.fail()) {
+ err << "Invalid value argument '" << commandArgs[2] << "'!";
+ throw MasterException(err.str());
+ }
+
+ cerr << "dt " << dataType->name << endl;
+ printRawData(data.data, data.data_size);
+
+ open(ReadWrite);
+
+ if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
+ stringstream err;
+ err << "Failed to download Sdo: " << strerror(errno);
+ delete [] data.data;
+ throw MasterException(err.str());
+ }
+
+ delete [] data.data;
+}
+
+/****************************************************************************/
+
void Master::sdoUpload(
int slavePosition,
const string &dataTypeStr,
@@ -376,7 +544,7 @@
if (dataType->byteSize) {
data.target_size = dataType->byteSize;
} else {
- data.target_size = DefaultTargetSize;
+ data.target_size = DefaultBufferSize;
}
data.target = new uint8_t[data.target_size + 1];