fp@1126: /*****************************************************************************
fp@1126:  *
fp@1126:  * $Id$
fp@1126:  *
fp@1126:  ****************************************************************************/
fp@1126: 
fp@1126: #include <iostream>
fp@1126: #include <iomanip>
fp@1126: using namespace std;
fp@1126: 
fp@1126: #include "globals.h"
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: const char *help_pdos =
fp@1126:     "[OPTIONS]\n"
fp@1126:     "\n"
fp@1137:     "Displays sync managers, assigned Pdos and mapped Pdo entries.\n"
fp@1126:     "\n"
fp@1137:     "The information is displayed in three layers, which are indented\n"
fp@1137:     "accordingly:\n"
fp@1137:     "\n"
fp@1137:     "1) Sync managers - Contains the sync manager information from the\n"
fp@1137:     "   SII: Index, physical start address, default size (raw value from\n"
fp@1137:     "   the SII), control register and enable word. Example:\n"
fp@1137:     "\n"
fp@1137:     "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, Enable 1\n"
fp@1137:     "\n"
fp@1137:     "2) Assigned Pdos - Pdo direction, hexadecimal index and -if available-\n"
fp@1137:     "   the Pdo name. Example:\n"
fp@1137:     "\n"
fp@1137:     "   TxPdo 0x1a00 \"Channel1\"\n"
fp@1137:     "\n"
fp@1137:     "3) Mapped Pdo entries - Pdo entry index and subindex (both\n"
fp@1137:     "   hexadecimal), the length in bit and -if available- the\n"
fp@1137:     "   description. Example:\n"
fp@1137:     "\n"
fp@1137:     "   Pdo entry 0x3101:01, 8 bit, \"Status\"\n"
fp@1137:     "\n"
fp@1137:     "Note, that the displayed Pdo assignment and Pdo mapping information\n"
fp@1137:     "can either originate from the SII or from the CoE communication area.\n"
fp@1137:     "\n"
fp@1137:     "Command-specific options:\n"
fp@1137:     "  --slave -s <index>  Positive numerical ring position, or 'all' for\n"
fp@1137:     "                      all slaves (default).\n"
fp@1137:     "\n"
fp@1137:     "Numerical values can be specified either with decimal (no prefix),\n"
fp@1137:     "octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 	
fp@1126: void listSlavePdos(uint16_t, bool);
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void command_pdos(void)
fp@1126: {
fp@1126:     masterDev.open(MasterDevice::Read);
fp@1126: 
fp@1126:     if (slavePosition == -1) {
fp@1126:         unsigned int numSlaves = masterDev.slaveCount(), i;
fp@1126: 
fp@1126:         for (i = 0; i < numSlaves; i++) {
fp@1126:             listSlavePdos(i, true);
fp@1126:         }
fp@1126:     } else {
fp@1126:         listSlavePdos(slavePosition, false);
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void listSlavePdos(uint16_t slavePosition, bool withHeader)
fp@1126: {
fp@1126:     ec_ioctl_slave_t slave;
fp@1126:     ec_ioctl_slave_sync_t sync;
fp@1126:     ec_ioctl_slave_sync_pdo_t pdo;
fp@1126:     ec_ioctl_slave_sync_pdo_entry_t entry;
fp@1126:     unsigned int i, j, k;
fp@1126:     
fp@1126:     masterDev.getSlave(&slave, slavePosition);
fp@1126: 
fp@1126:     if (withHeader)
fp@1126:         cout << "=== Slave " << slavePosition << " ===" << endl;
fp@1126: 
fp@1126:     for (i = 0; i < slave.sync_count; i++) {
fp@1126:         masterDev.getSync(&sync, slavePosition, i);
fp@1126: 
fp@1126:         cout << "SM" << i << ":"
fp@1126:             << " PhysAddr 0x"
fp@1126:             << hex << setfill('0')
fp@1126:             << setw(4) << sync.physical_start_address
fp@1126:             << ", DefaultSize "
fp@1126:             << dec << setfill(' ') << setw(4) << sync.default_size
fp@1126:             << ", ControlRegister 0x"
fp@1126:             << hex << setfill('0') << setw(2)
fp@1126:             << (unsigned int) sync.control_register
fp@1126:             << ", Enable " << dec << (unsigned int) sync.enable
fp@1126:             << endl;
fp@1126: 
fp@1126:         for (j = 0; j < sync.pdo_count; j++) {
fp@1126:             masterDev.getPdo(&pdo, slavePosition, i, j);
fp@1126: 
fp@1126:             cout << "  " << (sync.control_register & 0x04 ? "R" : "T")
fp@1126:                 << "xPdo 0x"
fp@1126:                 << hex << setfill('0')
fp@1126:                 << setw(4) << pdo.index
fp@1126:                 << " \"" << pdo.name << "\"" << endl;
fp@1126: 
fp@1126:             if (verbosity == Quiet)
fp@1126:                 continue;
fp@1126: 
fp@1126:             for (k = 0; k < pdo.entry_count; k++) {
fp@1126:                 masterDev.getPdoEntry(&entry, slavePosition, i, j, k);
fp@1126: 
fp@1126:                 cout << "    Pdo entry 0x"
fp@1126:                     << hex << setfill('0')
fp@1126:                     << setw(4) << entry.index
fp@1126:                     << ":" << setw(2) << (unsigned int) entry.subindex
fp@1126:                     << ", " << dec << (unsigned int) entry.bit_length
fp@1126:                     << " bit, \"" << entry.name << "\"" << endl;
fp@1126:             }
fp@1126:         }
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /*****************************************************************************/