--- a/tools/Master.cpp Fri Jun 06 13:03:56 2008 +0000
+++ b/tools/Master.cpp Fri Jun 06 15:13:25 2008 +0000
@@ -18,6 +18,72 @@
#include "Master.h"
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+
+#define le16tocpu(x) x
+#define le32tocpu(x) x
+
+#elif __BYTE_ORDER == __BIG_ENDIAN
+
+#define le16tocpu(x) \
+ ((uint16_t)( \
+ (((uint16_t)(x) & 0x00ffU) << 8) | \
+ (((uint16_t)(x) & 0xff00U) >> 8) ))
+#define le32tocpu(x) \
+ ((uint32_t)( \
+ (((uint32_t)(x) & 0x000000ffUL) << 24) | \
+ (((uint32_t)(x) & 0x0000ff00UL) << 8) | \
+ (((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
+ (((uint32_t)(x) & 0xff000000UL) >> 24) ))
+
+#endif
+
+/****************************************************************************/
+
+struct CoEDataType {
+ const char *name;
+ uint16_t coeCode;
+ unsigned int byteSize;
+};
+
+static const CoEDataType dataTypes[] = {
+ {"int8", 0x0002, 1},
+ {"int16", 0x0003, 2},
+ {"int32", 0x0004, 4},
+ {"uint8", 0x0005, 1},
+ {"uint16", 0x0006, 2},
+ {"uint32", 0x0007, 4},
+ {"string", 0x0009, 0},
+ {"raw", 0xffff, 0},
+ {}
+};
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(const string &str)
+{
+ const CoEDataType *d;
+
+ for (d = dataTypes; d->name; d++)
+ if (str == d->name)
+ return d;
+
+ return NULL;
+}
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(uint16_t code)
+{
+ const CoEDataType *d;
+
+ for (d = dataTypes; d->name; d++)
+ if (code == d->coeCode)
+ return d;
+
+ return NULL;
+}
+
/****************************************************************************/
Master::Master()
@@ -239,6 +305,139 @@
/****************************************************************************/
+void Master::sdoUpload(
+ int slavePosition,
+ const string &dataTypeStr,
+ const vector<string> &commandArgs
+ )
+{
+ stringstream strIndex, strSubIndex;
+ int number, sval;
+ ec_ioctl_sdo_upload_t data;
+ unsigned int i, uval;
+ const CoEDataType *dataType = NULL;
+
+ if (slavePosition < 0) {
+ stringstream err;
+ err << "'sdo_upload' requires a slave! Please specify --slave.";
+ throw MasterException(err.str());
+ }
+ data.slave_position = slavePosition;
+
+ if (commandArgs.size() != 2) {
+ stringstream err;
+ err << "'sdo_upload' takes two arguments!";
+ throw MasterException(err.str());
+ }
+
+ strIndex << commandArgs[0];
+ strIndex >> hex >> number;
+ if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
+ stringstream err;
+ 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) {
+ stringstream err;
+ err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+ throw MasterException(err.str());
+ }
+ data.sdo_entry_subindex = number;
+
+ if (dataTypeStr != "") { // data type specified
+ if (!(dataType = findDataType(dataTypeStr))) {
+ stringstream err;
+ 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;
+ try {
+ getSdoEntry(&entry, slavePosition,
+ data.sdo_index, data.sdo_entry_subindex);
+ } catch (MasterException &e) {
+ stringstream err;
+ err << "Failed to determine Sdo entry data type. "
+ << "Please specify --type.";
+ throw MasterException(err.str());
+ }
+ if (!(dataType = findDataType(entry.data_type))) {
+ stringstream err;
+ 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.target_size = dataType->byteSize;
+ } else {
+ data.target_size = DefaultTargetSize;
+ }
+
+ data.target = new uint8_t[data.target_size + 1];
+
+ if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
+ stringstream err;
+ err << "Failed to upload Sdo: " << strerror(errno);
+ delete [] data.target;
+ throw MasterException(err.str());
+ }
+
+ if (dataType->byteSize && data.data_size != dataType->byteSize) {
+ stringstream err;
+ err << "Data type mismatch. Expected " << dataType->name
+ << " with " << dataType->byteSize << " byte(s), but got "
+ << data.data_size << " byte(s).";
+ throw MasterException(err.str());
+ }
+
+ cout << setfill('0');
+ switch (dataType->coeCode) {
+ case 0x0002: // int8
+ sval = *(int8_t *) data.target;
+ cout << sval << " 0x" << hex << setw(2) << sval << endl;
+ break;
+ case 0x0003: // int16
+ sval = le16tocpu(*(int16_t *) data.target);
+ cout << sval << " 0x" << hex << setw(4) << sval << endl;
+ break;
+ case 0x0004: // int32
+ sval = le32tocpu(*(int32_t *) data.target);
+ cout << sval << " 0x" << hex << setw(8) << sval << endl;
+ break;
+ case 0x0005: // uint8
+ uval = (unsigned int) *(uint8_t *) data.target;
+ cout << uval << " 0x" << hex << setw(2) << uval << endl;
+ break;
+ case 0x0006: // uint16
+ uval = le16tocpu(*(uint16_t *) data.target);
+ cout << uval << " 0x" << hex << setw(4) << uval << endl;
+ break;
+ case 0x0007: // uint32
+ uval = le32tocpu(*(uint32_t *) data.target);
+ cout << uval << " 0x" << hex << setw(8) << uval << endl;
+ break;
+ case 0x0009: // string
+ cout << string((const char *) data.target, data.data_size)
+ << endl;
+ break;
+ default:
+ printRawData(data.target, data.data_size);
+ break;
+ }
+
+ delete [] data.target;
+}
+
+/****************************************************************************/
+
void Master::requestStates(
int slavePosition,
const vector<string> &commandArgs
@@ -474,7 +673,7 @@
continue;
for (j = 0; j <= sdo.max_subindex; j++) {
- getSdoEntry(&entry, slavePosition, i, j);
+ getSdoEntry(&entry, slavePosition, -i, j);
cout << " Entry 0x"
<< hex << setfill('0') << setw(2)
@@ -807,25 +1006,18 @@
void Master::getSdoEntry(
ec_ioctl_sdo_entry_t *entry,
uint16_t slaveIndex,
- uint16_t sdoPosition,
+ int sdoSpec,
uint8_t entrySubindex
)
{
entry->slave_position = slaveIndex;
- entry->sdo_position = sdoPosition;
+ entry->sdo_spec = sdoSpec;
entry->sdo_entry_subindex = entrySubindex;
if (ioctl(fd, EC_IOCTL_SDO_ENTRY, entry)) {
stringstream err;
err << "Failed to get Sdo entry: ";
- if (errno == EINVAL)
- err << "Either slave " << slaveIndex << " does not exist, "
- << "or it contains less than " << sdoPosition + 1
- << " Sdos, or the Sdo at position " << sdoPosition
- << " contains less than " << (unsigned int) entrySubindex + 1
- << " entries!" << endl;
- else
- err << strerror(errno);
+ err << strerror(errno);
throw MasterException(err.str());
}
}
@@ -867,3 +1059,18 @@
}
/****************************************************************************/
+
+void Master::printRawData(
+ const uint8_t *data,
+ unsigned int size)
+{
+ cout << hex << setfill('0');
+ while (size--) {
+ cout << "0x" << setw(2) << (unsigned int) *data++;
+ if (size)
+ cout << " ";
+ }
+ cout << endl;
+}
+
+/****************************************************************************/