Bus topology calculation.
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#ifndef __MASTER_DEVICE_H__
#define __MASTER_DEVICE_H__
#include <stdexcept>
#include <sstream>
using namespace std;
#include "../include/ecrt.h"
#include "../master/ioctl.h"
/****************************************************************************/
class MasterDeviceException:
public runtime_error
{
friend class MasterDevice;
protected:
/** Constructor with string parameter. */
MasterDeviceException(
const string &s /**< Message. */
): runtime_error(s) {}
/** Constructor with stringstream parameter. */
MasterDeviceException(
const stringstream &s /**< Message. */
): runtime_error(s.str()) {}
};
/****************************************************************************/
class MasterDeviceSdoAbortException:
public MasterDeviceException
{
friend class MasterDevice;
public:
uint32_t abortCode;
protected:
/** Constructor with stringstream parameter. */
MasterDeviceSdoAbortException(uint32_t code):
MasterDeviceException("SDO transfer aborted.") {
abortCode = code;
};
};
/****************************************************************************/
class MasterDevice
{
public:
MasterDevice();
~MasterDevice();
void setIndex(unsigned int);
unsigned int getIndex() const;
enum Permissions {Read, ReadWrite};
void open(Permissions);
void close();
void getMaster(ec_ioctl_master_t *);
void getConfig(ec_ioctl_config_t *, unsigned int);
void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
uint16_t);
void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
uint8_t, uint16_t, uint8_t);
void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
void getDomain(ec_ioctl_domain_t *, unsigned int);
void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
unsigned char *);
void getSlave(ec_ioctl_slave_t *, uint16_t);
void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
uint8_t, uint8_t);
void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
void readSii(ec_ioctl_slave_sii_t *);
void writeSii(ec_ioctl_slave_sii_t *);
void readReg(ec_ioctl_slave_reg_t *);
void writeReg(ec_ioctl_slave_reg_t *);
void setDebug(unsigned int);
void sdoDownload(ec_ioctl_slave_sdo_download_t *);
void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
void requestState(uint16_t, uint8_t);
void readFoe(ec_ioctl_slave_foe_t *);
void writeFoe(ec_ioctl_slave_foe_t *);
private:
unsigned int index;
int fd;
};
/****************************************************************************/
inline unsigned int MasterDevice::getIndex() const
{
return index;
}
/****************************************************************************/
#endif