fp@1184: /*****************************************************************************
fp@1184:  *
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@1184:  *
fp@1184:  ****************************************************************************/
fp@1184: 
fp@1184: #include "SdoCommand.h"
fp@1184: 
fp@1184: /*****************************************************************************/
fp@1184: 
fp@1184: SdoCommand::SdoCommand(const string &name, const string &briefDesc):
fp@1184:     Command(name, briefDesc)
fp@1184: {
fp@1184: }
fp@1184: 
fp@1184: /****************************************************************************/
fp@1184: 
fp@1184: const char *SdoCommand::abortText(uint32_t abortCode)
fp@1184: {
fp@1184:     const AbortMessage *abortMsg;
fp@1184: 
fp@1184:     for (abortMsg = abortMessages; abortMsg->code; abortMsg++) {
fp@1184:         if (abortMsg->code == abortCode) {
fp@1184:             return abortMsg->message;
fp@1184:         }
fp@1184:     }
fp@1184: 
fp@1184:     return "???";
fp@1184: }
fp@1184: 
fp@1184: /*****************************************************************************/
fp@1184: 
fp@1327: /** SDO abort messages.
fp@1184:  *
fp@1327:  * The "Abort SDO transfer request" supplies an abort code, which can be
fp@1184:  * translated to clear text. This table does the mapping of the codes and
fp@1184:  * messages.
fp@1184:  */
fp@1184: const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {
fp@1184:     {0x05030000, "Toggle bit not changed"},
fp@1327:     {0x05040000, "SDO protocol timeout"},
fp@1184:     {0x05040001, "Client/Server command specifier not valid or unknown"},
fp@1184:     {0x05040005, "Out of memory"},
fp@1184:     {0x06010000, "Unsupported access to an object"},
fp@1184:     {0x06010001, "Attempt to read a write-only object"},
fp@1184:     {0x06010002, "Attempt to write a read-only object"},
fp@1184:     {0x06020000, "This object does not exist in the object directory"},
fp@1327:     {0x06040041, "The object cannot be mapped into the PDO"},
fp@1184:     {0x06040042, "The number and length of the objects to be mapped would"
fp@1327:      " exceed the PDO length"},
fp@1184:     {0x06040043, "General parameter incompatibility reason"},
fp@1184:     {0x06040047, "Gerneral internal incompatibility in device"},
fp@1184:     {0x06060000, "Access failure due to a hardware error"},
fp@1184:     {0x06070010, "Data type does not match, length of service parameter does"
fp@1184:      " not match"},
fp@1184:     {0x06070012, "Data type does not match, length of service parameter too"
fp@1184:      " high"},
fp@1184:     {0x06070013, "Data type does not match, length of service parameter too"
fp@1184:      " low"},
fp@1184:     {0x06090011, "Subindex does not exist"},
fp@1184:     {0x06090030, "Value range of parameter exceeded"},
fp@1184:     {0x06090031, "Value of parameter written too high"},
fp@1184:     {0x06090032, "Value of parameter written too low"},
fp@1184:     {0x06090036, "Maximum value is less than minimum value"},
fp@1184:     {0x08000000, "General error"},
fp@1184:     {0x08000020, "Data cannot be transferred or stored to the application"},
fp@1184:     {0x08000021, "Data cannot be transferred or stored to the application"
fp@1184:      " because of local control"},
fp@1184:     {0x08000022, "Data cannot be transferred or stored to the application"
fp@1184:      " because of the present device state"},
fp@1184:     {0x08000023, "Object dictionary dynamic generation fails or no object"
fp@1184:      " dictionary is present"},
fp@1184:     {}
fp@1184: };
fp@1184: 
fp@1184: /****************************************************************************/