fp@1142: /*****************************************************************************
fp@1142:  *
fp@1363:  *  $Id$
fp@1363:  *
fp@1363:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1363:  *
fp@1363:  *  This file is part of the IgH EtherCAT Master.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1363:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1363:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1363:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@2436: #include <cstring>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandPdos.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandPdos::CommandPdos():
fp@1327:     Command("pdos", "List Sync managers, PDO assignment and mapping.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandPdos::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
fp@1142:         << endl
fp@1804:         << getBriefDescription() << endl
fp@1804:         << endl
fp@2436:         << "For the default skin (see --skin option) the information" << endl
fp@2436:         << "is displayed in three layers, which are" << endl
fp@1804:         << "indented accordingly:" << endl
fp@1804:         << endl
fp@1804:         << "1) Sync managers - Contains the sync manager information" << endl
fp@1804:         << "   from the SII: Index, physical start address, default" << endl
fp@1804:         << "   size, control register and enable word. Example:" << endl
fp@1804:         << endl
fp@1804:         << "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
fp@1804:         << "Enable 1" << endl
fp@1804:         << endl
fp@1804:         << "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
fp@1804:         << "   the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
fp@1144:         << "   are seen from the slave's point of view. Example:" << endl
fp@1804:         << endl
fp@1804:         << "   TxPDO 0x1a00 \"Channel1\"" << endl
fp@1804:         << endl
fp@1804:         << "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
fp@1804:         << "   hexadecimal), the length in bit and the description, if" << endl
fp@1804:         << "   available. Example:" << endl
fp@1804:         << endl
fp@1804:         << "   PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
fp@1804:         << endl
fp@1804:         << "Note, that the displayed PDO assignment and PDO mapping" << endl
fp@1804:         << "information can either originate from the SII or from the" << endl
fp@1804:         << "CoE communication area." << endl
fp@1804:         << endl
fp@2436:         << "The \"etherlab\" skin outputs a template configuration" << endl
fp@2436:         << "for EtherLab's generic EtherCAT slave block." << endl
fp@2436:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>" << endl
fp@1157:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1157:         << "                         the 'slaves' command." << endl
fp@2436:         << "  --skin     -s <skin>   Choose output skin. Possible values are"
fp@2436:         << endl
fp@2436:         << "                         \"default\" and \"etherlab\"." << endl
fp@1804:         << endl
fp@1804:         << numericInfo();
fp@1142: 
fp@1804:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandPdos::execute(const StringVector &args)
fp@1142: {
fp@1869: 	MasterIndexList masterIndices;
fp@1151:     SlaveList slaves;
fp@1151:     SlaveList::const_iterator si;
fp@1826:     bool showHeader, multiMaster;
fp@2421: 
fp@1373:     if (args.size()) {
fp@1373:         stringstream err;
fp@1373:         err << "'" << getName() << "' takes no arguments!";
fp@1373:         throwInvalidUsageException(err);
fp@1373:     }
fp@1373: 
fp@2436:     if (getSkin().empty() || getSkin() == "default") {
fp@2436:         masterIndices = getMasterIndices();
fp@2436:         multiMaster = masterIndices.size() > 1;
fp@2436:         MasterIndexList::const_iterator mi;
fp@2436:         for (mi = masterIndices.begin();
fp@2436:                 mi != masterIndices.end(); mi++) {
fp@2436:             MasterDevice m(*mi);
fp@2436:             m.open(MasterDevice::Read);
fp@2436:             slaves = selectedSlaves(m);
fp@2436:             showHeader = multiMaster || slaves.size() > 1;
fp@2436: 
fp@2436:             for (si = slaves.begin(); si != slaves.end(); si++) {
fp@2436:                 listSlavePdos(m, *si, showHeader);
fp@2436:             }
fp@2436:         }
fp@2436:     }
fp@2436:     else if (getSkin() == "etherlab") {
fp@2436:         masterIndices = getMasterIndices();
fp@2436:         MasterIndexList::const_iterator mi;
fp@2436:         for (mi = masterIndices.begin();
fp@2436:                 mi != masterIndices.end(); mi++) {
fp@2436:             MasterDevice m(*mi);
fp@2436:             m.open(MasterDevice::Read);
fp@2436:             slaves = selectedSlaves(m);
fp@2436: 
fp@2436:             for (si = slaves.begin(); si != slaves.end(); si++) {
fp@2436:                 etherlabConfig(m, *si);
fp@2436:             }
fp@2436:         }
fp@2436:     }
fp@2436:     else {
fp@2436:         stringstream err;
fp@2436:         err << "Invalid skin '" << getSkin() << "'!";
fp@2436:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandPdos::listSlavePdos(
fp@1804:         MasterDevice &m,
fp@1151:         const ec_ioctl_slave_t &slave,
fp@1804:         bool showHeader
fp@1804:         )
fp@1142: {
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@2421: 
fp@1827:     if (showHeader && slave.sync_count)
fp@1826:         cout << "=== Master " << m.getIndex()
fp@1826:             << ", Slave " << slave.position << " ===" << endl;
fp@1142: 
fp@1142:     for (i = 0; i < slave.sync_count; i++) {
fp@1151:         m.getSync(&sync, slave.position, 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@1151:             m.getPdo(&pdo, slave.position, i, j);
fp@1142: 
fp@1142:             cout << "  " << (sync.control_register & 0x04 ? "R" : "T")
fp@1327:                 << "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@1151:                 m.getPdoEntry(&entry, slave.position, i, j, k);
fp@1142: 
fp@1327:                 cout << "    PDO entry 0x"
fp@1142:                     << hex << setfill('0')
fp@1142:                     << setw(4) << entry.index
fp@1142:                     << ":" << setw(2) << (unsigned int) entry.subindex
fp@1187:                     << ", " << dec << setfill(' ')
fp@1187:                     << setw(2) << (unsigned int) entry.bit_length
fp@1142:                     << " bit, \"" << entry.name << "\"" << endl;
fp@1142:             }
fp@1142:         }
fp@1142:     }
fp@1142: }
fp@1142: 
fp@2436: /****************************************************************************/
fp@2436: 
fp@2436: void CommandPdos::etherlabConfig(
fp@2436:         MasterDevice &m,
fp@2436:         const ec_ioctl_slave_t &slave
fp@2436:         )
fp@2436: {
fp@2436:     ec_ioctl_slave_sync_t sync;
fp@2436:     ec_ioctl_slave_sync_pdo_t pdo;
fp@2436:     ec_ioctl_slave_sync_pdo_entry_t entry;
fp@2436:     unsigned int i, j, k;
fp@2436: 
fp@2436:     cout << "%" << endl
fp@2436:         << "% Master " << m.getIndex() << ", Slave " << slave.position;
fp@2436:     if (strlen(slave.order)) {
fp@2436:         cout << ", \"" << slave.order << "\"";
fp@2436:     }
fp@2436:     cout << endl
fp@2436:         << "%" << endl
fp@2436:         << "function rv = slave" << slave.position << "()" << endl << endl;
fp@2436: 
fp@2436:     cout << "% Slave configuration" << endl << endl;
fp@2436: 
fp@2436:     cout << "rv.SlaveConfig.vendor = " << slave.vendor_id << ";" << endl
fp@2436:         << "rv.SlaveConfig.product = hex2dec('"
fp@2436:         << hex << setfill('0') << setw(8) << slave.product_code << "');"
fp@2436:         << endl
fp@2436:         << "rv.SlaveConfig.description = '" << slave.order << "';" << endl
fp@2436:         << "rv.SlaveConfig.sm = { ..." << endl;
fp@2436: 
fp@2436:     /* slave configuration */
fp@2436:     for (i = 0; i < slave.sync_count; i++) {
fp@2436:         m.getSync(&sync, slave.position, i);
fp@2436: 
fp@2436:         cout << "    {" << dec << i << ", "
fp@2436:             << (sync.control_register & 0x04 ? 0 : 1) << ", {" << endl;
fp@2436: 
fp@2436:         for (j = 0; j < sync.pdo_count; j++) {
fp@2436:             m.getPdo(&pdo, slave.position, i, j);
fp@2436: 
fp@2436:             cout << "        {hex2dec('" <<
fp@2436:                 hex << setfill('0') << setw(4) << pdo.index << "'), ["
fp@2436:                 << endl;
fp@2436: 
fp@2436:             for (k = 0; k < pdo.entry_count; k++) {
fp@2436:                 m.getPdoEntry(&entry, slave.position, i, j, k);
fp@2436: 
fp@2436:                 cout << "            hex2dec('"
fp@2436:                     << hex << setfill('0') << setw(4) << entry.index
fp@2436:                     << "'), hex2dec('"
fp@2436:                     << setw(2) << (unsigned int) entry.subindex
fp@2436:                     << "'), " << dec << setfill(' ') << setw(3)
fp@2436:                     << (unsigned int) entry.bit_length
fp@2436:                     << "; ..." << endl;
fp@2436:             }
fp@2436: 
fp@2436:             cout << "            ]}, ..." << endl;
fp@2436:         }
fp@2436:         cout << "        }}, ..." << endl;
fp@2436:     }
fp@2436: 
fp@2436:     cout << "    };" << endl << endl;
fp@2436: 
fp@2436:     cout << "% Port configuration" << endl << endl;
fp@2436: 
fp@2436:     unsigned int input = 1, output = 1;
fp@2436:     for (i = 0; i < slave.sync_count; i++) {
fp@2436:         m.getSync(&sync, slave.position, i);
fp@2436: 
fp@2436:         for (j = 0; j < sync.pdo_count; j++) {
fp@2436:             m.getPdo(&pdo, slave.position, i, j);
fp@2436: 
fp@2436:             for (k = 0; k < pdo.entry_count; k++) {
fp@2436:                 m.getPdoEntry(&entry, slave.position, i, j, k);
fp@2436: 
fp@2436:                 if (!entry.index) {
fp@2436:                     continue;
fp@2436:                 }
fp@2436: 
fp@2436:                 string dir;
fp@2436:                 unsigned int port;
fp@2436: 
fp@2436:                 if (sync.control_register & 0x04) {
fp@2436:                     dir = "input";
fp@2436:                     port = input++;
fp@2436:                 }
fp@2436:                 else {
fp@2436:                     dir = "output";
fp@2436:                     port = output++;
fp@2436:                 }
fp@2436: 
fp@2436:                 stringstream var;
fp@2436:                 var << "rv.PortConfig." << dir << "(" << dec << port
fp@2436:                     << ")";
fp@2436: 
fp@2436:                 cout << var.str() << ".pdo = ["
fp@2436:                     << i << ", " << j << ", " << k << ", 0];" << endl;
fp@2436:                 cout << var.str() << ".pdo_data_type = "
fp@2436:                     << 1000 + (unsigned int) entry.bit_length
fp@2436:                     << ";" << endl << endl;
fp@2436:             }
fp@2436:         }
fp@2436:     }
fp@2436: 
fp@2436:     cout << "end" << endl;
fp@2436: }
fp@2436: 
fp@1142: /*****************************************************************************/