--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_sdos.cpp Tue Jul 22 14:17:20 2008 +0000
@@ -0,0 +1,92 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+const char *help_sdos =
+ "[OPTIONS]\n"
+ "\n"
+ "\n"
+ "Command-specific options:\n";
+
+/****************************************************************************/
+
+void listSlaveSdos(uint16_t, bool);
+
+/****************************************************************************/
+
+void command_sdos(void)
+{
+ masterDev.open(MasterDevice::Read);
+
+ if (slavePosition == -1) {
+ unsigned int numSlaves = masterDev.slaveCount(), i;
+
+ for (i = 0; i < numSlaves; i++) {
+ listSlaveSdos(i, true);
+ }
+ } else {
+ listSlaveSdos(slavePosition, false);
+ }
+}
+
+/****************************************************************************/
+
+void listSlaveSdos(
+ uint16_t slavePosition,
+ bool withHeader
+ )
+{
+ ec_ioctl_slave_t slave;
+ ec_ioctl_slave_sdo_t sdo;
+ ec_ioctl_slave_sdo_entry_t entry;
+ unsigned int i, j;
+ const CoEDataType *d;
+
+ masterDev.getSlave(&slave, slavePosition);
+
+ if (withHeader)
+ cout << "=== Slave " << slavePosition << " ===" << endl;
+
+ for (i = 0; i < slave.sdo_count; i++) {
+ masterDev.getSdo(&sdo, slavePosition, i);
+
+ cout << "Sdo 0x"
+ << hex << setfill('0')
+ << setw(4) << sdo.sdo_index
+ << ", \"" << sdo.name << "\"" << endl;
+
+ if (verbosity == Quiet)
+ continue;
+
+ for (j = 0; j <= sdo.max_subindex; j++) {
+ masterDev.getSdoEntry(&entry, slavePosition, -i, j);
+
+ cout << " 0x" << hex << setfill('0')
+ << setw(4) << sdo.sdo_index << ":"
+ << setw(2) << (unsigned int) entry.sdo_entry_subindex
+ << ", ";
+
+ if ((d = findDataType(entry.data_type))) {
+ cout << d->name;
+ } else {
+ cout << "type " << setw(4) << entry.data_type;
+ }
+
+ cout << ", " << dec << entry.bit_length << " bit, \""
+ << entry.description << "\"" << endl;
+ }
+ }
+}
+
+/*****************************************************************************/