/*****************************************************************************
*
* $Id$
*
* 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.
*
****************************************************************************/
#include <iostream>
#include <iomanip>
#include <cstring>
using namespace std;
#include "CommandPdos.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandPdos::CommandPdos():
Command("pdos", "List Sync managers, PDO assignment and mapping.")
{
}
/*****************************************************************************/
string CommandPdos::helpString(const string &binaryBaseName) const
{
stringstream str;
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "For the default skin (see --skin option) the information" << endl
<< "is displayed in three layers, which are" << endl
<< "indented accordingly:" << endl
<< endl
<< "1) Sync managers - Contains the sync manager information" << endl
<< " from the SII: Index, physical start address, default" << endl
<< " size, control register and enable word. Example:" << endl
<< endl
<< " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
<< "Enable 1" << endl
<< endl
<< "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
<< " the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
<< " are seen from the slave's point of view. Example:" << endl
<< endl
<< " TxPDO 0x1a00 \"Channel1\"" << endl
<< endl
<< "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
<< " hexadecimal), the length in bit and the description, if" << endl
<< " available. Example:" << endl
<< endl
<< " PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
<< endl
<< "Note, that the displayed PDO assignment and PDO mapping" << endl
<< "information can either originate from the SII or from the" << endl
<< "CoE communication area." << endl
<< endl
<< "The \"etherlab\" skin outputs a template configuration" << endl
<< "for EtherLab's generic EtherCAT slave block." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --skin -s <skin> Choose output skin. Possible values are"
<< endl
<< " \"default\" and \"etherlab\"." << endl
<< endl
<< numericInfo();
return str.str();
}
/****************************************************************************/
void CommandPdos::execute(const StringVector &args)
{
MasterIndexList masterIndices;
SlaveList slaves;
SlaveList::const_iterator si;
bool showHeader, multiMaster;
if (args.size()) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
throwInvalidUsageException(err);
}
if (getSkin().empty() || getSkin() == "default") {
masterIndices = getMasterIndices();
multiMaster = masterIndices.size() > 1;
MasterIndexList::const_iterator mi;
for (mi = masterIndices.begin();
mi != masterIndices.end(); mi++) {
MasterDevice m(*mi);
m.open(MasterDevice::Read);
slaves = selectedSlaves(m);
showHeader = multiMaster || slaves.size() > 1;
for (si = slaves.begin(); si != slaves.end(); si++) {
listSlavePdos(m, *si, showHeader);
}
}
}
else if (getSkin() == "etherlab") {
masterIndices = getMasterIndices();
MasterIndexList::const_iterator mi;
for (mi = masterIndices.begin();
mi != masterIndices.end(); mi++) {
MasterDevice m(*mi);
m.open(MasterDevice::Read);
slaves = selectedSlaves(m);
for (si = slaves.begin(); si != slaves.end(); si++) {
etherlabConfig(m, *si);
}
}
}
else {
stringstream err;
err << "Invalid skin '" << getSkin() << "'!";
throwInvalidUsageException(err);
}
}
/****************************************************************************/
void CommandPdos::listSlavePdos(
MasterDevice &m,
const ec_ioctl_slave_t &slave,
bool showHeader
)
{
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
if (showHeader && slave.sync_count)
cout << "=== Master " << m.getIndex()
<< ", Slave " << slave.position << " ===" << endl;
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, 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++) {
m.getPdo(&pdo, slave.position, i, j);
cout << " " << (sync.control_register & 0x04 ? "R" : "T")
<< "xPDO 0x"
<< hex << setfill('0')
<< setw(4) << pdo.index
<< " \"" << pdo.name << "\"" << endl;
if (getVerbosity() == Quiet)
continue;
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
cout << " PDO entry 0x"
<< hex << setfill('0')
<< setw(4) << entry.index
<< ":" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << setfill(' ')
<< setw(2) << (unsigned int) entry.bit_length
<< " bit, \"" << entry.name << "\"" << endl;
}
}
}
}
/****************************************************************************/
void CommandPdos::etherlabConfig(
MasterDevice &m,
const ec_ioctl_slave_t &slave
)
{
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
ec_ioctl_slave_sync_pdo_entry_t entry;
unsigned int i, j, k;
cout << "%" << endl
<< "% Master " << m.getIndex() << ", Slave " << slave.position;
if (strlen(slave.order)) {
cout << ", \"" << slave.order << "\"";
}
cout << endl
<< "%" << endl
<< "function rv = slave" << slave.position << "()" << endl << endl;
cout << "% Slave configuration" << endl << endl;
cout << "rv.SlaveConfig.vendor = " << slave.vendor_id << ";" << endl
<< "rv.SlaveConfig.product = hex2dec('"
<< hex << setfill('0') << setw(8) << slave.product_code << "');"
<< endl
<< "rv.SlaveConfig.description = '" << slave.order << "';" << endl
<< "rv.SlaveConfig.sm = { ..." << endl;
/* slave configuration */
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
cout << " {" << dec << i << ", "
<< (sync.control_register & 0x04 ? 0 : 1) << ", {" << endl;
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
cout << " {hex2dec('" <<
hex << setfill('0') << setw(4) << pdo.index << "'), ["
<< endl;
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
cout << " hex2dec('"
<< hex << setfill('0') << setw(4) << entry.index
<< "'), hex2dec('"
<< setw(2) << (unsigned int) entry.subindex
<< "'), " << dec << setfill(' ') << setw(3)
<< (unsigned int) entry.bit_length
<< "; ..." << endl;
}
cout << " ]}, ..." << endl;
}
cout << " }}, ..." << endl;
}
cout << " };" << endl << endl;
cout << "% Port configuration" << endl << endl;
unsigned int input = 1, output = 1;
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
if (!entry.index) {
continue;
}
string dir;
unsigned int port;
if (sync.control_register & 0x04) {
dir = "input";
port = input++;
}
else {
dir = "output";
port = output++;
}
stringstream var;
var << "rv.PortConfig." << dir << "(" << dec << port
<< ")";
cout << var.str() << ".pdo = ["
<< i << ", " << j << ", " << k << ", 0];" << endl;
cout << var.str() << ".pdo_data_type = "
<< 1000 + (unsigned int) entry.bit_length
<< ";" << endl << endl;
}
}
}
cout << "end" << endl;
}
/*****************************************************************************/