/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
#include <iostream>
#include <iomanip>
#include <sstream>
#include <fstream>
#include <cctype> // toupper()
#include <list>
using namespace std;
#include "Master.h"
#define swap16(x) \
((uint16_t)( \
(((uint16_t)(x) & 0x00ffU) << 8) | \
(((uint16_t)(x) & 0xff00U) >> 8) ))
#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
/****************************************************************************/
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()
{
index = 0;
fd = -1;
}
/****************************************************************************/
Master::~Master()
{
close();
}
/****************************************************************************/
void Master::setIndex(unsigned int i)
{
index = i;
}
/*****************************************************************************/
/**
* Writes the Secondary slave address (alias) to the slave's SII.
*/
void Master::writeAlias(
int slavePosition,
bool force,
const vector<string> &commandArgs
)
{
ec_ioctl_sii_t data;
ec_ioctl_slave_t slave;
unsigned int i;
uint16_t alias;
stringstream err, strAlias;
int number;
if (commandArgs.size() != 1) {
stringstream err;
err << "'alias' takes exactly one argument!";
throw MasterException(err.str());
}
strAlias << commandArgs[0];
strAlias >> hex >> number;
if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
err << "Invalid alias '" << commandArgs[0] << "'!";
throw MasterException(err.str());
}
alias = number;
if (slavePosition == -1) {
unsigned int numSlaves, i;
if (!force) {
err << "This will write the alias addresses of all slaves to 0x"
<< hex << setfill('0') << setw(4) << alias << "! "
<< "Please specify --force to proceed.";
throw MasterException(err.str());
}
open(ReadWrite);
numSlaves = slaveCount();
for (i = 0; i < numSlaves; i++) {
writeSlaveAlias(i, alias);
}
} else {
open(ReadWrite);
writeSlaveAlias(slavePosition, alias);
}
}
/*****************************************************************************/
/**
* Lists the bus configuration.
*/
void Master::showConfig()
{
ec_ioctl_master_t master;
unsigned int i, j, k, l;
ec_ioctl_config_t config;
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
open(Read);
getMaster(&master);
for (i = 0; i < master.config_count; i++) {
getConfig(&config, i);
cout << "Alias: 0x"
<< hex << setfill('0') << setw(4) << config.alias << endl
<< "Position: " << dec << config.position << endl
<< "Vendor Id: 0x"
<< hex << setw(8) << config.vendor_id << endl
<< "Product code: 0x"
<< hex << setw(8) << config.product_code << endl
<< "Attached: " << (config.attached ? "yes" : "no") << endl;
for (j = 0; j < 16; j++) {
if (config.syncs[j].pdo_count) {
cout << "SM" << dec << j << " ("
<< (config.syncs[j].dir == EC_DIR_INPUT
? "Input" : "Output") << ")" << endl;
for (k = 0; k < config.syncs[j].pdo_count; k++) {
getConfigPdo(&pdo, i, j, k);
cout << " Pdo 0x"
<< hex << setfill('0') << setw(4) << pdo.index
<< " \"" << pdo.name << "\"" << endl;
for (l = 0; l < pdo.entry_count; l++) {
getConfigPdoEntry(&entry, i, j, k, l);
cout << " Pdo entry 0x"
<< hex << setfill('0') << setw(4) << entry.index
<< ":" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
<< " bit, \"" << entry.name << "\"" << endl;
}
}
}
}
if (config.sdo_count) {
cout << "Sdo configuration:" << endl;
for (j = 0; j < config.sdo_count; j++) {
getConfigSdo(&sdo, i, j);
cout << " 0x"
<< hex << setfill('0') << setw(4) << sdo.index
<< ":" << setw(2) << (unsigned int) sdo.subindex
<< ", " << sdo.size << " byte: " << hex;
switch (sdo.size) {
case 1:
cout << "0x" << setw(2)
<< (unsigned int) *(uint8_t *) &sdo.data;
break;
case 2:
cout << "0x" << setw(4)
<< le16tocpu(*(uint16_t *) &sdo.data);
break;
case 4:
cout << "0x" << setw(8)
<< le32tocpu(*(uint32_t *) &sdo.data);
break;
default:
cout << "???";
}
cout << endl;
}
}
cout << endl;
}
}
/****************************************************************************/
void Master::outputData(int domainIndex)
{
open(Read);
if (domainIndex == -1) {
unsigned int i;
ec_ioctl_master_t master;
getMaster(&master);
for (i = 0; i < master.domain_count; i++) {
outputDomainData(i);
}
} else {
outputDomainData(domainIndex);
}
}
/****************************************************************************/
void Master::setDebug(const vector<string> &commandArgs)
{
stringstream str;
int debugLevel;
if (commandArgs.size() != 1) {
stringstream err;
err << "'debug' takes exactly one argument!";
throw MasterException(err.str());
}
str << commandArgs[0];
str >> debugLevel;
if (str.fail()) {
stringstream err;
err << "Invalid debug level '" << commandArgs[0] << "'!";
throw MasterException(err.str());
}
open(ReadWrite);
if (ioctl(fd, EC_IOCTL_SET_DEBUG, debugLevel) < 0) {
stringstream err;
err << "Failed to set debug level: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::showDomains(int domainIndex)
{
open(Read);
if (domainIndex == -1) {
unsigned int i;
ec_ioctl_master_t master;
getMaster(&master);
for (i = 0; i < master.domain_count; i++) {
showDomain(i);
}
} else {
showDomain(domainIndex);
}
}
/****************************************************************************/
struct SlaveInfo {
string pos;
string alias;
string relPos;
string state;
string flag;
string name;
};
void Master::listSlaves()
{
unsigned int numSlaves, i;
ec_ioctl_slave_t slave;
uint16_t lastAlias, aliasIndex;
SlaveInfo slaveInfo;
typedef list<SlaveInfo> SlaveInfoList;
SlaveInfoList slaveInfoList;
SlaveInfoList::const_iterator iter;
stringstream str;
unsigned int maxPosWidth = 0, maxAliasWidth = 0,
maxRelPosWidth = 0, maxStateWidth = 0;
open(Read);
numSlaves = slaveCount();
lastAlias = 0;
aliasIndex = 0;
for (i = 0; i < numSlaves; i++) {
getSlave(&slave, i);
str << dec << i;
slaveInfo.pos = str.str();
str.clear();
str.str("");
if (slave.alias) {
lastAlias = slave.alias;
aliasIndex = 0;
}
if (lastAlias) {
str << "#" << hex << lastAlias;
slaveInfo.alias = str.str();
str.str("");
str << ":" << dec << aliasIndex;
slaveInfo.relPos = str.str();
str.str("");
aliasIndex++;
} else {
slaveInfo.alias = "";
slaveInfo.relPos = "";
}
slaveInfo.state = slaveState(slave.state);
slaveInfo.flag = (slave.error_flag ? 'E' : '+');
if (strlen(slave.name)) {
slaveInfo.name = slave.name;
} else {
str << hex << setfill('0')
<< setw(8) << slave.vendor_id << ":"
<< setw(8) << slave.product_code;
slaveInfo.name = str.str();
str.str("");
}
slaveInfoList.push_back(slaveInfo);
if (slaveInfo.pos.length() > maxPosWidth)
maxPosWidth = slaveInfo.pos.length();
if (slaveInfo.alias.length() > maxAliasWidth)
maxAliasWidth = slaveInfo.alias.length();
if (slaveInfo.relPos.length() > maxRelPosWidth)
maxRelPosWidth = slaveInfo.relPos.length();
if (slaveInfo.state.length() > maxStateWidth)
maxStateWidth = slaveInfo.state.length();
}
for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) {
cout << setfill(' ') << right
<< setw(maxPosWidth) << iter->pos << " "
<< setw(maxAliasWidth) << iter->alias
<< left
<< setw(maxRelPosWidth) << iter->relPos << " "
<< setw(maxStateWidth) << iter->state << " "
<< iter->flag << " "
<< iter->name << endl;
}
}
/****************************************************************************/
void Master::showMaster()
{
ec_ioctl_master_t data;
stringstream err;
unsigned int i;
open(Read);
getMaster(&data);
cout
<< "Master" << index << endl
<< " Phase: ";
switch (data.phase) {
case 0: cout << "Waiting for device..."; break;
case 1: cout << "Idle"; break;
case 2: cout << "Operation"; break;
default:
err << "Invalid master phase " << data.phase;
throw MasterException(err.str());
}
cout << endl
<< " Slaves: " << data.slave_count << endl;
for (i = 0; i < 2; i++) {
cout << " Device" << i << ": ";
if (data.devices[i].address[0] == 0x00
&& data.devices[i].address[1] == 0x00
&& data.devices[i].address[2] == 0x00
&& data.devices[i].address[3] == 0x00
&& data.devices[i].address[4] == 0x00
&& data.devices[i].address[5] == 0x00) {
cout << "None.";
} else {
cout << hex << setfill('0')
<< setw(2) << (unsigned int) data.devices[i].address[0] << ":"
<< setw(2) << (unsigned int) data.devices[i].address[1] << ":"
<< setw(2) << (unsigned int) data.devices[i].address[2] << ":"
<< setw(2) << (unsigned int) data.devices[i].address[3] << ":"
<< setw(2) << (unsigned int) data.devices[i].address[4] << ":"
<< setw(2) << (unsigned int) data.devices[i].address[5] << " ("
<< (data.devices[i].attached ? "attached" : "waiting...")
<< ")" << endl << dec
<< " Tx count: " << data.devices[i].tx_count << endl
<< " Rx count: " << data.devices[i].rx_count;
}
cout << endl;
}
}
/****************************************************************************/
void Master::listPdos(int slavePosition, bool quiet)
{
open(Read);
if (slavePosition == -1) {
unsigned int numSlaves = slaveCount(), i;
for (i = 0; i < numSlaves; i++) {
listSlavePdos(i, quiet, true);
}
} else {
listSlavePdos(slavePosition, quiet, false);
}
}
/****************************************************************************/
void Master::listSdos(int slavePosition, bool quiet)
{
open(Read);
if (slavePosition == -1) {
unsigned int numSlaves = slaveCount(), i;
for (i = 0; i < numSlaves; i++) {
listSlaveSdos(i, quiet, true);
}
} else {
listSlaveSdos(slavePosition, quiet, false);
}
}
/****************************************************************************/
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(ReadWrite);
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());
}
open(ReadWrite);
if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
stringstream err;
err << "Failed to download Sdo: ";
if (errno == EIO && data.abort_code) {
err << "Abort code 0x" << hex << setfill('0') << setw(8)
<< data.abort_code;
} else {
err << strerror(errno);
}
delete [] data.data;
throw MasterException(err.str());
}
delete [] data.data;
}
/****************************************************************************/
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;
open(Read);
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 = DefaultBufferSize;
}
data.target = new uint8_t[data.target_size + 1];
open(Read);
if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
stringstream err;
err << "Failed to upload Sdo: ";
if (errno == EIO && data.abort_code) {
err << "Abort code 0x" << hex << setfill('0') << setw(8)
<< data.abort_code;
} else {
err << strerror(errno);
}
delete [] data.target;
close();
throw MasterException(err.str());
}
close();
if (dataType->byteSize && data.data_size != dataType->byteSize) {
stringstream err;
err << "Data type mismatch. Expected " << dataType->name
<< " with " << dataType->byteSize << " byte, but got "
<< data.data_size << " byte.";
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::showSlaves(int slavePosition)
{
open(Read);
if (slavePosition == -1) {
unsigned int numSlaves = slaveCount(), i;
for (i = 0; i < numSlaves; i++) {
showSlave(i);
}
} else {
showSlave(slavePosition);
}
}
/****************************************************************************/
void Master::siiRead(int slavePosition)
{
ec_ioctl_sii_t data;
ec_ioctl_slave_t slave;
unsigned int i;
if (slavePosition < 0) {
stringstream err;
err << "'sii_read' requires a slave! Please specify --slave.";
throw MasterException(err.str());
}
data.slave_position = slavePosition;
open(Read);
getSlave(&slave, slavePosition);
if (!slave.sii_nwords)
return;
data.offset = 0;
data.nwords = slave.sii_nwords;
data.words = new uint16_t[data.nwords];
if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
stringstream err;
delete [] data.words;
err << "Failed to read SII: " << strerror(errno);
throw MasterException(err.str());
}
for (i = 0; i < data.nwords; i++) {
uint16_t *w = data.words + i;
cout << *(uint8_t *) w << *((uint8_t *) w + 1);
}
delete [] data.words;
}
/****************************************************************************/
void Master::siiWrite(
int slavePosition,
bool force,
const vector<string> &commandArgs
)
{
stringstream err;
ec_ioctl_sii_t data;
ifstream file;
unsigned int byte_size;
const uint16_t *categoryHeader;
uint16_t categoryType, categorySize;
uint8_t crc;
if (slavePosition < 0) {
err << "'sii_write' requires a slave! Please specify --slave.";
throw MasterException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 1) {
err << "'ssi_write' takes exactly one argument!";
throw MasterException(err.str());
}
file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary);
if (file.fail()) {
err << "Failed to open '" << commandArgs[0] << "'!";
throw MasterException(err.str());
}
// get length of file
file.seekg(0, ios::end);
byte_size = file.tellg();
file.seekg(0, ios::beg);
if (!byte_size || byte_size % 2) {
stringstream err;
err << "Invalid file size! Must be non-zero and even.";
throw MasterException(err.str());
}
data.nwords = byte_size / 2;
if (data.nwords < 0x0041 && !force) {
err << "SII data too short (" << data.nwords << " words)! Mimimum is"
" 40 fixed words + 1 delimiter. Use --force to write anyway.";
throw MasterException(err.str());
}
// allocate buffer and read file into buffer
data.words = new uint16_t[data.nwords];
file.read((char *) data.words, byte_size);
file.close();
if (!force) {
// calculate checksum over words 0 to 6
crc = calcSiiCrc((const uint8_t *) data.words, 14);
if (crc != ((const uint8_t *) data.words)[14]) {
err << "CRC incorrect. Must be 0x"
<< hex << setfill('0') << setw(2) << (unsigned int) crc
<< ". Use --force to write anyway.";
throw MasterException(err.str());
}
// cycle through categories to detect corruption
categoryHeader = data.words + 0x0040;
categoryType = le16tocpu(*categoryHeader);
while (categoryType != 0xffff) {
if (categoryHeader + 1 > data.words + data.nwords) {
err << "SII data seem to be corrupted! "
<< "Use --force to write anyway.";
throw MasterException(err.str());
}
categorySize = le16tocpu(*(categoryHeader + 1));
if (categoryHeader + categorySize + 2 > data.words + data.nwords) {
err << "SII data seem to be corrupted! "
"Use --force to write anyway.";
throw MasterException(err.str());
}
categoryHeader += categorySize + 2;
categoryType = le16tocpu(*categoryHeader);
}
}
// send data to master
open(ReadWrite);
data.offset = 0;
if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
stringstream err;
err << "Failed to write SII: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::requestStates(
int slavePosition,
const vector<string> &commandArgs
)
{
string stateStr;
uint8_t state;
if (commandArgs.size() != 1) {
stringstream err;
err << "'state' takes exactly one argument!";
throw MasterException(err.str());
}
stateStr = commandArgs[0];
transform(stateStr.begin(), stateStr.end(),
stateStr.begin(), (int (*) (int)) std::toupper);
if (stateStr == "INIT") {
state = 0x01;
} else if (stateStr == "PREOP") {
state = 0x02;
} else if (stateStr == "SAFEOP") {
state = 0x04;
} else if (stateStr == "OP") {
state = 0x08;
} else {
stringstream err;
err << "Invalid state '" << commandArgs[0] << "'!";
throw MasterException(err.str());
}
open(ReadWrite);
if (slavePosition == -1) {
unsigned int i, numSlaves = slaveCount();
for (i = 0; i < numSlaves; i++)
requestState(i, state);
} else {
requestState(slavePosition, state);
}
}
/****************************************************************************/
void Master::generateXml(int slavePosition)
{
open(Read);
if (slavePosition == -1) {
unsigned int numSlaves = slaveCount(), i;
for (i = 0; i < numSlaves; i++) {
generateSlaveXml(i);
}
} else {
generateSlaveXml(slavePosition);
}
}
/****************************************************************************/
void Master::open(Permissions perm)
{
stringstream deviceName;
if (fd != -1) { // already open
return;
}
deviceName << "/dev/EtherCAT" << index;
if ((fd = ::open(deviceName.str().c_str(),
perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
stringstream err;
err << "Failed to open master device " << deviceName.str() << ": "
<< strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::close()
{
if (fd == -1)
return;
::close(fd);
fd = -1;
}
/*****************************************************************************/
/**
* Writes the Secondary slave address (alias) to the slave's SII.
*/
void Master::writeSlaveAlias(
uint16_t slavePosition,
uint16_t alias
)
{
ec_ioctl_sii_t data;
ec_ioctl_slave_t slave;
stringstream err;
uint8_t crc;
open(ReadWrite);
getSlave(&slave, slavePosition);
if (slave.sii_nwords < 8) {
err << "Current SII contents are too small to set an alias "
<< "(" << slave.sii_nwords << " words)!";
throw MasterException(err.str());
}
data.slave_position = slavePosition;
data.offset = 0;
data.nwords = 8;
data.words = new uint16_t[data.nwords];
// read first 8 SII words
if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
delete [] data.words;
err << "Failed to read SII: " << strerror(errno);
throw MasterException(err.str());
}
// write new alias address in word 4
data.words[4] = cputole16(alias);
// calculate checksum over words 0 to 6
crc = calcSiiCrc((const uint8_t *) data.words, 14);
// write new checksum into first byte of word 7
*(uint8_t *) (data.words + 7) = crc;
// write first 8 words with new alias and checksum
if (ioctl(fd, EC_IOCTL_SII_WRITE, &data) < 0) {
delete [] data.words;
err << "Failed to write SII: " << strerror(errno);
throw MasterException(err.str());
}
delete [] data.words;
}
/****************************************************************************/
void Master::outputDomainData(unsigned int domainIndex)
{
ec_ioctl_domain_t domain;
ec_ioctl_data_t data;
unsigned char *processData;
unsigned int i;
getDomain(&domain, domainIndex);
if (!domain.data_size)
return;
processData = new unsigned char[domain.data_size];
try {
getData(&data, domainIndex, domain.data_size, processData);
} catch (MasterException &e) {
delete [] processData;
throw e;
}
for (i = 0; i < data.data_size; i++)
cout << processData[i];
cout.flush();
delete [] processData;
}
/****************************************************************************/
void Master::showDomain(unsigned int domainIndex)
{
ec_ioctl_domain_t domain;
unsigned char *processData;
ec_ioctl_data_t data;
unsigned int i, j;
ec_ioctl_domain_fmmu_t fmmu;
unsigned int dataOffset;
getDomain(&domain, domainIndex);
cout << "Domain" << domainIndex << ":"
<< " LogBaseAddr 0x"
<< hex << setfill('0') << setw(8) << domain.logical_base_address
<< ", Size " << dec << setfill(' ') << setw(3) << domain.data_size
<< ", WorkingCounter "
<< dec << domain.working_counter << "/"
<< domain.expected_working_counter << endl;
if (!domain.data_size)
return;
processData = new unsigned char[domain.data_size];
try {
getData(&data, domainIndex, domain.data_size, processData);
} catch (MasterException &e) {
delete [] processData;
throw e;
}
for (i = 0; i < domain.fmmu_count; i++) {
getFmmu(&fmmu, domainIndex, i);
cout << " SlaveConfig "
<< fmmu.slave_config_alias << ":" << fmmu.slave_config_position
<< ", Dir "
<< setfill(' ') << setw(3) << (fmmu.dir == EC_DIR_INPUT ? "In" : "Out")
<< ", LogAddr 0x"
<< hex << setfill('0') << setw(8) << fmmu.logical_address
<< ", Size " << dec << fmmu.data_size << endl;
dataOffset = fmmu.logical_address - domain.logical_base_address;
if (dataOffset + fmmu.data_size > domain.data_size) {
stringstream err;
err << "Fmmu information corrupted!";
delete [] processData;
throw MasterException(err.str());
}
cout << " " << hex << setfill('0');
for (j = 0; j < fmmu.data_size; j++) {
cout << setw(2)
<< (unsigned int) *(processData + dataOffset + j) << " ";
}
cout << endl;
}
delete [] processData;
}
/****************************************************************************/
void Master::listSlavePdos(
uint16_t slavePosition,
bool quiet,
bool withHeader
)
{
ec_ioctl_slave_t slave;
ec_ioctl_sync_t sync;
ec_ioctl_pdo_t pdo;
ec_ioctl_pdo_entry_t entry;
unsigned int i, j, k;
getSlave(&slave, slavePosition);
if (withHeader)
cout << "=== Slave " << slavePosition << " ===" << endl;
for (i = 0; i < slave.sync_count; i++) {
getSync(&sync, slavePosition, i);
cout << "SM" << i << ":"
<< " PhysAddr 0x"
<< hex << setfill('0') << setw(4) << sync.physical_start_address
<< ", DefaultSize "
<< dec << setfill(' ') << setw(4) << sync.default_size
<< ", ControlRegister 0x"
<< hex << setfill('0') << setw(2)
<< (unsigned int) sync.control_register
<< ", Enable " << dec << (unsigned int) sync.enable
<< endl;
for (j = 0; j < sync.pdo_count; j++) {
getPdo(&pdo, slavePosition, i, j);
cout << " " << (sync.control_register & 0x04 ? "R" : "T")
<< "xPdo 0x"
<< hex << setfill('0') << setw(4) << pdo.index
<< " \"" << pdo.name << "\"" << endl;
if (quiet)
continue;
for (k = 0; k < pdo.entry_count; k++) {
getPdoEntry(&entry, slavePosition, i, j, k);
cout << " Pdo entry 0x"
<< hex << setfill('0') << setw(4) << entry.index
<< ":" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
<< " bit, \"" << entry.name << "\"" << endl;
}
}
}
}
/****************************************************************************/
void Master::listSlaveSdos(
uint16_t slavePosition,
bool quiet,
bool withHeader
)
{
ec_ioctl_slave_t slave;
ec_ioctl_sdo_t sdo;
ec_ioctl_sdo_entry_t entry;
unsigned int i, j, k;
const CoEDataType *d;
getSlave(&slave, slavePosition);
if (withHeader)
cout << "=== Slave " << slavePosition << " ===" << endl;
for (i = 0; i < slave.sdo_count; i++) {
getSdo(&sdo, slavePosition, i);
cout << "Sdo "
<< hex << setfill('0') << setw(4) << sdo.sdo_index
<< ", \"" << sdo.name << "\"" << endl;
if (quiet)
continue;
for (j = 0; j <= sdo.max_subindex; j++) {
getSdoEntry(&entry, slavePosition, -i, j);
cout << " " << 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;
}
}
}
/****************************************************************************/
void Master::showSlave(uint16_t slavePosition)
{
ec_ioctl_slave_t slave;
list<string> protoList;
list<string>::const_iterator protoIter;
getSlave(&slave, slavePosition);
cout << "Slave " << dec << slavePosition << endl
<< "Alias: 0x" << hex << setfill('0') << setw(4) << slave.alias << endl
<< "State: " << slaveState(slave.state) << endl
<< "Flag: " << (slave.error_flag ? 'E' : '+') << endl
<< "Identity:" << endl
<< " Vendor Id: 0x"
<< hex << setfill('0') << setw(8) << slave.vendor_id << endl
<< " Product code: 0x"
<< setw(8) << slave.product_code << endl
<< " Revision number: 0x"
<< setw(8) << slave.revision_number << endl
<< " Serial number: 0x"
<< setw(8) << slave.serial_number << endl;
if (slave.mailbox_protocols) {
cout << "Mailboxes:" << endl
<< " RX: 0x"
<< hex << setw(4) << slave.rx_mailbox_offset << "/"
<< dec << slave.rx_mailbox_size
<< ", TX: 0x"
<< hex << setw(4) << slave.tx_mailbox_offset << "/"
<< dec << slave.tx_mailbox_size << endl
<< " Supported protocols: ";
if (slave.mailbox_protocols & EC_MBOX_AOE) {
protoList.push_back("AoE");
}
if (slave.mailbox_protocols & EC_MBOX_EOE) {
protoList.push_back("EoE");
}
if (slave.mailbox_protocols & EC_MBOX_COE) {
protoList.push_back("CoE");
}
if (slave.mailbox_protocols & EC_MBOX_FOE) {
protoList.push_back("FoE");
}
if (slave.mailbox_protocols & EC_MBOX_SOE) {
protoList.push_back("SoE");
}
if (slave.mailbox_protocols & EC_MBOX_VOE) {
protoList.push_back("VoE");
}
for (protoIter = protoList.begin(); protoIter != protoList.end();
protoIter++) {
if (protoIter != protoList.begin())
cout << ", ";
cout << *protoIter;
}
cout << endl;
}
if (slave.has_general_category) {
cout << "General:" << endl
<< " Name: " << slave.name << endl;
if (slave.mailbox_protocols & EC_MBOX_COE) {
cout << " CoE details:" << endl
<< " Enable Sdo: "
<< (slave.coe_details.enable_sdo ? "yes" : "no") << endl
<< " Enable Sdo Info: "
<< (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
<< " Enable Pdo Assign: "
<< (slave.coe_details.enable_pdo_assign
? "yes" : "no") << endl
<< " Enable Pdo Configuration: "
<< (slave.coe_details.enable_pdo_configuration
? "yes" : "no") << endl
<< " Enable Upload at startup: "
<< (slave.coe_details.enable_upload_at_startup
? "yes" : "no") << endl
<< " Enable Sdo complete access: "
<< (slave.coe_details.enable_sdo_complete_access
? "yes" : "no") << endl;
}
cout << " Flags:" << endl
<< " Enable SafeOp: "
<< (slave.general_flags.enable_safeop ? "yes" : "no") << endl
<< " Enable notLRW: "
<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
<< " Current consumption: "
<< dec << slave.current_on_ebus << " mA" << endl;
}
cout << endl;
}
/****************************************************************************/
void Master::generateSlaveXml(uint16_t slavePosition)
{
ec_ioctl_slave_t slave;
ec_ioctl_sync_t sync;
ec_ioctl_pdo_t pdo;
string pdoType;
ec_ioctl_pdo_entry_t entry;
unsigned int i, j, k;
getSlave(&slave, slavePosition);
cout
<< "<?xml version=\"1.0\" ?>" << endl
<< " <EtherCATInfo>" << endl
<< " <!-- Slave " << slave.position << " -->" << endl
<< " <Vendor>" << endl
<< " <Id>" << slave.vendor_id << "</Id>" << endl
<< " </Vendor>" << endl
<< " <Descriptions>" << endl
<< " <Devices>" << endl
<< " <Device>" << endl
<< " <Type ProductCode=\"#x"
<< hex << setfill('0') << setw(8) << slave.product_code
<< "\" RevisionNo=\"#x"
<< hex << setfill('0') << setw(8) << slave.revision_number
<< "\"/>" << endl;
for (i = 0; i < slave.sync_count; i++) {
getSync(&sync, slavePosition, i);
for (j = 0; j < sync.pdo_count; j++) {
getPdo(&pdo, slavePosition, i, j);
pdoType = (sync.control_register & 0x04 ? "R" : "T");
pdoType += "xPdo";
cout
<< " <" << pdoType << ">" << endl
<< " <Index>#x"
<< hex << setfill('0') << setw(4) << pdo.index
<< "</Index>" << endl
<< " <Name>" << pdo.name << "</Name>" << endl;
for (k = 0; k < pdo.entry_count; k++) {
getPdoEntry(&entry, slavePosition, i, j, k);
cout
<< " <Entry>" << endl
<< " <Index>#x"
<< hex << setfill('0') << setw(4) << entry.index
<< "</Index>" << endl;
if (entry.index)
cout
<< " <SubIndex>"
<< dec << (unsigned int) entry.subindex
<< "</SubIndex>" << endl;
cout
<< " <BitLen>"
<< dec << (unsigned int) entry.bit_length
<< "</BitLen>" << endl;
if (entry.index) {
cout
<< " <Name>" << entry.name
<< "</Name>" << endl
<< " <DataType>";
if (entry.bit_length == 1) {
cout << "BOOL";
} else if (!(entry.bit_length % 8)) {
if (entry.bit_length <= 64)
cout << "UINT" << (unsigned int) entry.bit_length;
else
cout << "STRING("
<< (unsigned int) (entry.bit_length / 8)
<< ")";
} else {
cerr << "Invalid bit length "
<< (unsigned int) entry.bit_length << endl;
}
cout << "</DataType>" << endl;
}
cout << " </Entry>" << endl;
}
cout
<< " </" << pdoType << ">" << endl;
}
}
cout
<< " </Device>" << endl
<< " </Devices>" << endl
<< " </Descriptions>" << endl
<< "</EtherCATInfo>" << endl;
}
/****************************************************************************/
unsigned int Master::slaveCount()
{
ec_ioctl_master_t data;
getMaster(&data);
return data.slave_count;
}
/****************************************************************************/
void Master::getMaster(ec_ioctl_master_t *data)
{
if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
stringstream err;
err << "Failed to get master information: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
{
data->config_index = index;
if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
stringstream err;
err << "Failed to get slave configuration: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getConfigPdo(
ec_ioctl_config_pdo_t *data,
unsigned int index,
uint8_t sync_index,
uint16_t pdo_pos
)
{
data->config_index = index;
data->sync_index = sync_index;
data->pdo_pos = pdo_pos;
if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
stringstream err;
err << "Failed to get slave config Pdo: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getConfigPdoEntry(
ec_ioctl_config_pdo_entry_t *data,
unsigned int index,
uint8_t sync_index,
uint16_t pdo_pos,
uint8_t entry_pos
)
{
data->config_index = index;
data->sync_index = sync_index;
data->pdo_pos = pdo_pos;
data->entry_pos = entry_pos;
if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
stringstream err;
err << "Failed to get slave config Pdo entry: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getConfigSdo(
ec_ioctl_config_sdo_t *data,
unsigned int index,
unsigned int sdo_pos
)
{
data->config_index = index;
data->sdo_pos = sdo_pos;
if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
stringstream err;
err << "Failed to get slave config Sdo: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
{
data->index = index;
if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
stringstream err;
err << "Failed to get domain: ";
if (errno == EINVAL)
err << "Domain " << index << " does not exist!";
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getData(ec_ioctl_data_t *data, unsigned int domainIndex,
unsigned int dataSize, unsigned char *mem)
{
data->domain_index = domainIndex;
data->data_size = dataSize;
data->target = mem;
if (ioctl(fd, EC_IOCTL_DATA, data) < 0) {
stringstream err;
err << "Failed to get domain data: " << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
{
slave->position = slaveIndex;
if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
stringstream err;
err << "Failed to get slave: ";
if (errno == EINVAL)
err << "Slave " << slaveIndex << " does not exist!";
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getFmmu(
ec_ioctl_domain_fmmu_t *fmmu,
unsigned int domainIndex,
unsigned int fmmuIndex
)
{
fmmu->domain_index = domainIndex;
fmmu->fmmu_index = fmmuIndex;
if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
stringstream err;
err << "Failed to get domain FMMU: ";
if (errno == EINVAL)
err << "Either domain " << domainIndex << " does not exist, "
<< "or it contains less than " << (unsigned int) fmmuIndex + 1
<< " FMMus!";
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getSync(
ec_ioctl_sync_t *sync,
uint16_t slaveIndex,
uint8_t syncIndex
)
{
sync->slave_position = slaveIndex;
sync->sync_index = syncIndex;
if (ioctl(fd, EC_IOCTL_SYNC, sync)) {
stringstream err;
err << "Failed to get sync manager: ";
if (errno == EINVAL)
err << "Either slave " << slaveIndex << " does not exist, "
<< "or it contains less than " << (unsigned int) syncIndex + 1
<< " sync managers!";
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getPdo(
ec_ioctl_pdo_t *pdo,
uint16_t slaveIndex,
uint8_t syncIndex,
uint8_t pdoPos
)
{
pdo->slave_position = slaveIndex;
pdo->sync_index = syncIndex;
pdo->pdo_pos = pdoPos;
if (ioctl(fd, EC_IOCTL_PDO, pdo)) {
stringstream err;
err << "Failed to get Pdo: ";
if (errno == EINVAL)
err << "Either slave " << slaveIndex << " does not exist, "
<< "or it contains less than " << (unsigned int) syncIndex + 1
<< " sync managers, or sync manager "
<< (unsigned int) syncIndex << " contains less than "
<< pdoPos + 1 << " Pdos!" << endl;
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getPdoEntry(
ec_ioctl_pdo_entry_t *entry,
uint16_t slaveIndex,
uint8_t syncIndex,
uint8_t pdoPos,
uint8_t entryPos
)
{
entry->slave_position = slaveIndex;
entry->sync_index = syncIndex;
entry->pdo_pos = pdoPos;
entry->entry_pos = entryPos;
if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {
stringstream err;
err << "Failed to get Pdo entry: ";
if (errno == EINVAL)
err << "Either slave " << slaveIndex << " does not exist, "
<< "or it contains less than " << (unsigned int) syncIndex + 1
<< " sync managers, or sync manager "
<< (unsigned int) syncIndex << " contains less than "
<< pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos
<< " contains less than " << (unsigned int) entryPos + 1
<< " entries!" << endl;
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getSdo(
ec_ioctl_sdo_t *sdo,
uint16_t slaveIndex,
uint16_t sdoPosition
)
{
sdo->slave_position = slaveIndex;
sdo->sdo_position = sdoPosition;
if (ioctl(fd, EC_IOCTL_SDO, sdo)) {
stringstream err;
err << "Failed to get Sdo: ";
if (errno == EINVAL)
err << "Either slave " << slaveIndex << " does not exist, "
<< "or it contains less than " << sdoPosition + 1 << " Sdos!"
<< endl;
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::getSdoEntry(
ec_ioctl_sdo_entry_t *entry,
uint16_t slaveIndex,
int sdoSpec,
uint8_t entrySubindex
)
{
entry->slave_position = slaveIndex;
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: ";
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
void Master::requestState(
uint16_t slavePosition,
uint8_t state
)
{
ec_ioctl_slave_state_t data;
data.slave_position = slavePosition;
data.requested_state = state;
if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
stringstream err;
err << "Failed to request slave state: ";
if (errno == EINVAL)
err << "Slave " << slavePosition << " does not exist!";
else
err << strerror(errno);
throw MasterException(err.str());
}
}
/****************************************************************************/
string Master::slaveState(uint8_t state)
{
switch (state) {
case 1: return "INIT";
case 2: return "PREOP";
case 4: return "SAFEOP";
case 8: return "OP";
default: return "???";
}
}
/****************************************************************************/
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;
}
/*****************************************************************************/
/**
* Calculates the SII checksum field.
*
* The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
* initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
*
* The below code was originally generated with PYCRC
* http://www.tty1.net/pycrc
*
* ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
* --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
*
* \return CRC8
*/
uint8_t Master::calcSiiCrc(
const uint8_t *data, /**< pointer to data */
size_t length /**< number of bytes in \a data */
)
{
unsigned int i;
uint8_t bit, byte, crc = 0x48;
while (length--) {
byte = *data++;
for (i = 0; i < 8; i++) {
bit = crc & 0x80;
crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
if (bit) crc ^= 0x07;
}
}
for (i = 0; i < 8; i++) {
bit = crc & 0x80;
crc <<= 1;
if (bit) crc ^= 0x07;
}
return crc;
}
/*****************************************************************************/