fp@1122: /*****************************************************************************
fp@1122:  *
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@1122:  *
fp@1122:  ****************************************************************************/
fp@1122: 
fp@1141: #ifndef __MASTER_DEVICE_H__
fp@1141: #define __MASTER_DEVICE_H__
fp@1122: 
fp@1122: #include <stdexcept>
fp@1136: #include <sstream>
fp@1122: using namespace std;
fp@1122: 
fp@1835: #include "ecrt.h"
fp@1835: #include "ioctl.h"
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: class MasterDeviceException:
fp@1122:     public runtime_error
fp@1122: {
fp@1136:     friend class MasterDevice;
fp@1136:     
fp@1136:     protected:
fp@1184:         /** Constructor with string parameter. */
fp@1184:         MasterDeviceException(
fp@1184:                 const string &s /**< Message. */
fp@1184:                 ): runtime_error(s) {}
fp@1184: 
fp@1141:         /** Constructor with stringstream parameter. */
fp@1122:         MasterDeviceException(
fp@1136:                 const stringstream &s /**< Message. */
fp@1136:                 ): runtime_error(s.str()) {}
fp@1122: };
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1184: class MasterDeviceSdoAbortException:
fp@1184:     public MasterDeviceException 
fp@1184: {
fp@1184:     friend class MasterDevice;
fp@1184: 
fp@1184:     public:
fp@1184:         uint32_t abortCode;
fp@1184:     
fp@1184:     protected:
fp@1831:         /** Constructor with abort code parameter. */
fp@1184:         MasterDeviceSdoAbortException(uint32_t code):
fp@1327:             MasterDeviceException("SDO transfer aborted.") {
fp@1184:                 abortCode = code;
fp@1184:             };
fp@1184: };
fp@1184: 
fp@1184: /****************************************************************************/
fp@1184: 
fp@1831: class MasterDeviceSoeException:
fp@1831:     public MasterDeviceException 
fp@1831: {
fp@1831:     friend class MasterDevice;
fp@1831: 
fp@1831:     public:
fp@1831:         uint16_t errorCode;
fp@1831:     
fp@1831:     protected:
fp@1831:         /** Constructor with error code parameter. */
fp@1831:         MasterDeviceSoeException(uint16_t code):
fp@1831:             MasterDeviceException("SoE transfer aborted.") {
fp@1831:                 errorCode = code;
fp@1831:             };
fp@1831: };
fp@1831: 
fp@1831: /****************************************************************************/
fp@1831: 
fp@1122: class MasterDevice
fp@1122: {
fp@1122:     public:
fp@1826:         MasterDevice(unsigned int = 0U);
fp@1122:         ~MasterDevice();
fp@1122: 
fp@1122:         void setIndex(unsigned int);
fp@1804:         unsigned int getIndex() const;
fp@1122: 
fp@1122:         enum Permissions {Read, ReadWrite};
fp@1122:         void open(Permissions);
fp@1122:         void close();
fp@1122: 
fp@1826:         void getModule(ec_ioctl_module_t *);
fp@1826: 
fp@1122:         void getMaster(ec_ioctl_master_t *);
fp@1122:         void getConfig(ec_ioctl_config_t *, unsigned int);
fp@1122:         void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
fp@1122:                 uint16_t);
fp@1122:         void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
fp@1122:                 uint8_t, uint16_t, uint8_t);
fp@1122:         void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
fp@1966:         void getConfigIdn(ec_ioctl_config_idn_t *, unsigned int, unsigned int);
fp@1122:         void getDomain(ec_ioctl_domain_t *, unsigned int);
fp@1122:         void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
fp@1122:         void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
fp@1122:                 unsigned char *);
fp@1122:         void getSlave(ec_ioctl_slave_t *, uint16_t);
fp@1122:         void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
fp@1122:         void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
fp@1122:         void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
fp@1122:                 uint8_t, uint8_t);
fp@1122:         void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
fp@1122:         void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
fp@1122:         void readSii(ec_ioctl_slave_sii_t *);
fp@1122:         void writeSii(ec_ioctl_slave_sii_t *);
fp@1388:         void readReg(ec_ioctl_slave_reg_t *);
fp@1388:         void writeReg(ec_ioctl_slave_reg_t *);
fp@1804:         void setDebug(unsigned int);
fp@1961:         void rescan();
fp@1804:         void sdoDownload(ec_ioctl_slave_sdo_download_t *);
fp@1804:         void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
fp@1804:         void requestState(uint16_t, uint8_t);
fp@1804:         void readFoe(ec_ioctl_slave_foe_t *);
fp@1335:         void writeFoe(ec_ioctl_slave_foe_t *);
fp@1516: #ifdef EC_EOE
fp@1485:         void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
fp@1516: #endif
fp@1837:         void readSoe(ec_ioctl_slave_soe_read_t *);
fp@1837:         void writeSoe(ec_ioctl_slave_soe_write_t *);
fp@1122: 
fp@1826:         unsigned int getMasterCount() const {return masterCount;}
fp@1826: 
fp@1122:     private:
fp@1122:         unsigned int index;
fp@1826:         unsigned int masterCount;
fp@1122:         int fd;
fp@1122: };
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1166: inline unsigned int MasterDevice::getIndex() const
fp@1166: {
fp@1804:     return index;
fp@1166: }
fp@1166: 
fp@1166: /****************************************************************************/
fp@1166: 
fp@1122: #endif