fp@1142: /*****************************************************************************
fp@1142:  *
fp@1142:  * $Id$
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandPdos.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandPdos::CommandPdos():
fp@1142:     Command("pdos", "List Sync managers, Pdo assignment and mapping.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: string CommandPdos::helpString() const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1142:     str << getName() << " [OPTIONS]" << endl
fp@1142:     	<< endl
fp@1142:     	<< getBriefDescription() << endl
fp@1142:         << endl
fp@1142:     	<< "The information is displayed in three layers, which are" << endl
fp@1142:     	<< "indented accordingly:" << endl
fp@1142:     	<< endl
fp@1142:     	<< "1) Sync managers - Contains the sync manager information" << endl
fp@1142:     	<< "   from the SII: Index, physical start address, default" << endl
fp@1142:     	<< "   size (value from the SII), control register and enable" << endl
fp@1142:     	<< "   word. Example:" << endl
fp@1142: 		<< endl
fp@1142:     	<< "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20,"
fp@1142: 		<< "Enable 1" << endl
fp@1142:     	<< endl
fp@1142:     	<< "2) Assigned Pdos - Pdo direction, hexadecimal index and" << endl
fp@1142: 		<< "   -if available- the Pdo name. Example:" << endl
fp@1142:     	<< endl
fp@1142:     	<< "   TxPdo 0x1a00 \"Channel1\"" << endl
fp@1142:     	<< endl
fp@1142:     	<< "3) Mapped Pdo entries - Pdo entry index and subindex (both" << endl
fp@1142:     	<< "   hexadecimal), the length in bit and -if available- the" << endl
fp@1142:     	<< "   description. Example:" << endl
fp@1142:     	<< endl
fp@1142:     	<< "   Pdo entry 0x3101:01, 8 bit, \"Status\"" << endl
fp@1142:     	<< endl
fp@1142:     	<< "Note, that the displayed Pdo assignment and Pdo mapping" << endl
fp@1142:     	<< "information can either originate from the SII or from the" << endl
fp@1142: 		<< "CoE communication area." << endl
fp@1142:     	<< endl
fp@1142:     	<< "Command-specific options:" << endl
fp@1142:     	<< "  --slave -s <index>  Positive numerical ring position," << endl
fp@1142:     	<< "                      or 'all' forall slaves (default)." << endl
fp@1142:     	<< endl
fp@1142: 		<< numericInfo();
fp@1142: 
fp@1142: 	return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandPdos::execute(MasterDevice &m, const StringVector &args)
fp@1142: {
fp@1142:     m.open(MasterDevice::Read);
fp@1142: 
fp@1142:     if (slavePosition == -1) {
fp@1142:         unsigned int numSlaves = m.slaveCount(), i;
fp@1142: 
fp@1142:         for (i = 0; i < numSlaves; i++) {
fp@1142:             listSlavePdos(m, i, true);
fp@1142:         }
fp@1142:     } else {
fp@1142:         listSlavePdos(m, slavePosition, false);
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandPdos::listSlavePdos(
fp@1142: 		MasterDevice &m,
fp@1142: 		uint16_t slavePosition,
fp@1142: 		bool withHeader
fp@1142: 		)
fp@1142: {
fp@1142:     ec_ioctl_slave_t slave;
fp@1142:     ec_ioctl_slave_sync_t sync;
fp@1142:     ec_ioctl_slave_sync_pdo_t pdo;
fp@1142:     ec_ioctl_slave_sync_pdo_entry_t entry;
fp@1142:     unsigned int i, j, k;
fp@1142:     
fp@1142:     m.getSlave(&slave, slavePosition);
fp@1142: 
fp@1142:     if (withHeader)
fp@1142:         cout << "=== Slave " << slavePosition << " ===" << endl;
fp@1142: 
fp@1142:     for (i = 0; i < slave.sync_count; i++) {
fp@1142:         m.getSync(&sync, slavePosition, i);
fp@1142: 
fp@1142:         cout << "SM" << i << ":"
fp@1142:             << " PhysAddr 0x"
fp@1142:             << hex << setfill('0')
fp@1142:             << setw(4) << sync.physical_start_address
fp@1142:             << ", DefaultSize "
fp@1142:             << dec << setfill(' ') << setw(4) << sync.default_size
fp@1142:             << ", ControlRegister 0x"
fp@1142:             << hex << setfill('0') << setw(2)
fp@1142:             << (unsigned int) sync.control_register
fp@1142:             << ", Enable " << dec << (unsigned int) sync.enable
fp@1142:             << endl;
fp@1142: 
fp@1142:         for (j = 0; j < sync.pdo_count; j++) {
fp@1142:             m.getPdo(&pdo, slavePosition, i, j);
fp@1142: 
fp@1142:             cout << "  " << (sync.control_register & 0x04 ? "R" : "T")
fp@1142:                 << "xPdo 0x"
fp@1142:                 << hex << setfill('0')
fp@1142:                 << setw(4) << pdo.index
fp@1142:                 << " \"" << pdo.name << "\"" << endl;
fp@1142: 
fp@1142:             if (getVerbosity() == Quiet)
fp@1142:                 continue;
fp@1142: 
fp@1142:             for (k = 0; k < pdo.entry_count; k++) {
fp@1142:                 m.getPdoEntry(&entry, slavePosition, i, j, k);
fp@1142: 
fp@1142:                 cout << "    Pdo entry 0x"
fp@1142:                     << hex << setfill('0')
fp@1142:                     << setw(4) << entry.index
fp@1142:                     << ":" << setw(2) << (unsigned int) entry.subindex
fp@1142:                     << ", " << dec << (unsigned int) entry.bit_length
fp@1142:                     << " bit, \"" << entry.name << "\"" << endl;
fp@1142:             }
fp@1142:         }
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/