# HG changeset patch # User Florian Pose # Date 1216678823 0 # Node ID ee305a780a026f934f0bfcc13912914e0f494e69 # Parent 52a005ffd01194d91f5ddf90608de27d6bf027db First step of moving to command list. diff -r 52a005ffd011 -r ee305a780a02 tool/Makefile.am --- a/tool/Makefile.am Mon Jul 21 22:06:33 2008 +0000 +++ b/tool/Makefile.am Mon Jul 21 22:20:23 2008 +0000 @@ -34,7 +34,9 @@ bin_PROGRAMS = ethercat ethercat_SOURCES = \ - Master.cpp Master.h \ + MasterDevice.cpp MasterDevice.h \ + cmd_alias.cpp \ + cmd_config.cpp \ main.cpp ethercat_CXXFLAGS = -I../master -Wall diff -r 52a005ffd011 -r ee305a780a02 tool/Master.cpp --- a/tool/Master.cpp Mon Jul 21 22:06:33 2008 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,2175 +0,0 @@ -/***************************************************************************** - * - * $Id$ - * - ****************************************************************************/ - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include // toupper() -#include -using namespace std; - -#include "Master.h" - -#define swap16(x) \ - ((uint16_t)( \ - (((uint16_t)(x) & 0x00ffU) << 8) | \ - (((uint16_t)(x) & 0xff00U) >> 8) )) -#define swap32(x) \ - ((uint32_t)( \ - (((uint32_t)(x) & 0x000000ffUL) << 24) | \ - (((uint32_t)(x) & 0x0000ff00UL) << 8) | \ - (((uint32_t)(x) & 0x00ff0000UL) >> 8) | \ - (((uint32_t)(x) & 0xff000000UL) >> 24) )) - -#if __BYTE_ORDER == __LITTLE_ENDIAN - -#define le16tocpu(x) x -#define le32tocpu(x) x - -#define cputole16(x) x -#define cputole32(x) x - -#elif __BYTE_ORDER == __BIG_ENDIAN - -#define le16tocpu(x) swap16(x) -#define le32tocpu(x) swap32(x) - -#define cputole16(x) swap16(x) -#define cputole32(x) swap32(x) - -#endif - -/****************************************************************************/ - -struct CoEDataType { - const char *name; - uint16_t coeCode; - unsigned int byteSize; -}; - -static const CoEDataType dataTypes[] = { - {"int8", 0x0002, 1}, - {"int16", 0x0003, 2}, - {"int32", 0x0004, 4}, - {"uint8", 0x0005, 1}, - {"uint16", 0x0006, 2}, - {"uint32", 0x0007, 4}, - {"string", 0x0009, 0}, - {"raw", 0xffff, 0}, - {} -}; - -/****************************************************************************/ - -const CoEDataType *findDataType(const string &str) -{ - const CoEDataType *d; - - for (d = dataTypes; d->name; d++) - if (str == d->name) - return d; - - return NULL; -} - -/****************************************************************************/ - -const CoEDataType *findDataType(uint16_t code) -{ - const CoEDataType *d; - - for (d = dataTypes; d->name; d++) - if (code == d->coeCode) - return d; - - return NULL; -} - -/****************************************************************************/ - -Master::Master() -{ - index = 0; - verbosity = Normal; - fd = -1; -} - -/****************************************************************************/ - -Master::~Master() -{ - close(); -} - -/****************************************************************************/ - -void Master::setIndex(unsigned int i) -{ - index = i; -} - -/****************************************************************************/ - -void Master::setVerbosity(Verbosity v) -{ - verbosity = v; -} - -/*****************************************************************************/ - -/** - * Writes the Secondary slave address (alias) to the slave's SII. - */ -void Master::writeAlias( - int slavePosition, - bool force, - const vector &commandArgs - ) -{ - uint16_t alias; - stringstream err, strAlias; - int number; - - if (commandArgs.size() != 1) { - stringstream err; - err << "'alias' takes exactly one argument!"; - throw MasterException(err.str()); - } - - strAlias << commandArgs[0]; - strAlias - >> resetiosflags(ios::basefield) // guess base from prefix - >> number; - if (strAlias.fail() || number < 0x0000 || number > 0xffff) { - err << "Invalid alias '" << commandArgs[0] << "'!"; - throw MasterException(err.str()); - } - alias = number; - - if (slavePosition == -1) { - unsigned int numSlaves, i; - - if (!force) { - err << "This will write the alias addresses of all slaves to " - << alias << "! Please specify --force to proceed."; - throw MasterException(err.str()); - } - - open(ReadWrite); - numSlaves = slaveCount(); - - for (i = 0; i < numSlaves; i++) { - writeSlaveAlias(i, alias); - } - } else { - open(ReadWrite); - writeSlaveAlias(slavePosition, alias); - } -} - -/*****************************************************************************/ - -bool operator<(const ec_ioctl_config_t &a, const ec_ioctl_config_t &b) -{ - return a.alias < b.alias - || (a.alias == b.alias && a.position < b.position); -} - -/** Lists the bus configuration. - */ -void Master::showConfigs() -{ - ec_ioctl_master_t master; - unsigned int i; - ec_ioctl_config_t config; - ConfigList configList; - - open(Read); - getMaster(&master); - - for (i = 0; i < master.config_count; i++) { - getConfig(&config, i); - configList.push_back(config); - } - - configList.sort(); - - if (verbosity == Verbose) { - showDetailedConfigs(configList); - } else { - listConfigs(configList); - } -} - -/****************************************************************************/ - -void Master::outputData(int domainIndex) -{ - open(Read); - - if (domainIndex == -1) { - unsigned int i; - ec_ioctl_master_t master; - - getMaster(&master); - - for (i = 0; i < master.domain_count; i++) { - outputDomainData(i); - } - } else { - outputDomainData(domainIndex); - } -} - -/****************************************************************************/ - -void Master::setDebug(const vector &commandArgs) -{ - stringstream str; - int debugLevel; - - if (commandArgs.size() != 1) { - stringstream err; - err << "'debug' takes exactly one argument!"; - throw MasterException(err.str()); - } - - str << commandArgs[0]; - str >> resetiosflags(ios::basefield) // guess base from prefix - >> debugLevel; - - if (str.fail()) { - stringstream err; - err << "Invalid debug level '" << commandArgs[0] << "'!"; - throw MasterException(err.str()); - } - - open(ReadWrite); - - if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) { - stringstream err; - err << "Failed to set debug level: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::showDomains(int domainIndex) -{ - open(Read); - - if (domainIndex == -1) { - unsigned int i; - ec_ioctl_master_t master; - - getMaster(&master); - - for (i = 0; i < master.domain_count; i++) { - showDomain(i); - } - } else { - showDomain(domainIndex); - } -} - -/****************************************************************************/ - -void Master::showMaster() -{ - ec_ioctl_master_t data; - stringstream err; - unsigned int i; - - open(Read); - getMaster(&data); - - cout - << "Master" << index << endl - << " Phase: "; - - switch (data.phase) { - case 0: cout << "Waiting for device..."; break; - case 1: cout << "Idle"; break; - case 2: cout << "Operation"; break; - default: - err << "Invalid master phase " << data.phase; - throw MasterException(err.str()); - } - - cout << endl - << " Slaves: " << data.slave_count << endl; - - for (i = 0; i < 2; i++) { - cout << " Device" << i << ": "; - if (data.devices[i].address[0] == 0x00 - && data.devices[i].address[1] == 0x00 - && data.devices[i].address[2] == 0x00 - && data.devices[i].address[3] == 0x00 - && data.devices[i].address[4] == 0x00 - && data.devices[i].address[5] == 0x00) { - cout << "None."; - } else { - cout << hex << setfill('0') - << setw(2) << (unsigned int) data.devices[i].address[0] << ":" - << setw(2) << (unsigned int) data.devices[i].address[1] << ":" - << setw(2) << (unsigned int) data.devices[i].address[2] << ":" - << setw(2) << (unsigned int) data.devices[i].address[3] << ":" - << setw(2) << (unsigned int) data.devices[i].address[4] << ":" - << setw(2) << (unsigned int) data.devices[i].address[5] << " (" - << (data.devices[i].attached ? "attached" : "waiting...") - << ")" << endl << dec - << " Tx count: " << data.devices[i].tx_count << endl - << " Rx count: " << data.devices[i].rx_count; - } - cout << endl; - } -} - -/****************************************************************************/ - -void Master::listPdos(int slavePosition) -{ - open(Read); - - if (slavePosition == -1) { - unsigned int numSlaves = slaveCount(), i; - - for (i = 0; i < numSlaves; i++) { - listSlavePdos(i, true); - } - } else { - listSlavePdos(slavePosition, false); - } -} - -/****************************************************************************/ - -void Master::listSdos(int slavePosition) -{ - open(Read); - - if (slavePosition == -1) { - unsigned int numSlaves = slaveCount(), i; - - for (i = 0; i < numSlaves; i++) { - listSlaveSdos(i, true); - } - } else { - listSlaveSdos(slavePosition, false); - } -} - -/****************************************************************************/ - -void Master::sdoDownload( - int slavePosition, - const string &dataTypeStr, - const vector &commandArgs - ) -{ - stringstream strIndex, strSubIndex, strValue, err; - ec_ioctl_slave_sdo_download_t data; - unsigned int number; - const CoEDataType *dataType = NULL; - - if (slavePosition < 0) { - err << "'sdo_download' requires a slave! Please specify --slave."; - throw MasterException(err.str()); - } - data.slave_position = slavePosition; - - if (commandArgs.size() != 3) { - err << "'sdo_download' takes 3 arguments!"; - throw MasterException(err.str()); - } - - strIndex << commandArgs[0]; - strIndex - >> resetiosflags(ios::basefield) // guess base from prefix - >> data.sdo_index; - if (strIndex.fail()) { - err << "Invalid Sdo index '" << commandArgs[0] << "'!"; - throw MasterException(err.str()); - } - - strSubIndex << commandArgs[1]; - strSubIndex - >> resetiosflags(ios::basefield) // guess base from prefix - >> number; - if (strSubIndex.fail() || number > 0xff) { - err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; - throw MasterException(err.str()); - } - data.sdo_entry_subindex = number; - - if (dataTypeStr != "") { // data type specified - if (!(dataType = findDataType(dataTypeStr))) { - err << "Invalid data type '" << dataTypeStr << "'!"; - throw MasterException(err.str()); - } - } else { // no data type specified: fetch from dictionary - ec_ioctl_slave_sdo_entry_t entry; - - open(ReadWrite); - - try { - getSdoEntry(&entry, slavePosition, - data.sdo_index, data.sdo_entry_subindex); - } catch (MasterException &e) { - err << "Failed to determine Sdo entry data type. " - << "Please specify --type."; - throw MasterException(err.str()); - } - if (!(dataType = findDataType(entry.data_type))) { - err << "Pdo entry has unknown data type 0x" - << hex << setfill('0') << setw(4) << entry.data_type << "!" - << " Please specify --type."; - throw MasterException(err.str()); - } - } - - if (dataType->byteSize) { - data.data_size = dataType->byteSize; - } else { - data.data_size = DefaultBufferSize; - } - - data.data = new uint8_t[data.data_size + 1]; - - strValue << commandArgs[2]; - strValue >> resetiosflags(ios::basefield); // guess base from prefix - strValue.exceptions(ios::failbit); - - try { - switch (dataType->coeCode) { - case 0x0002: // int8 - { - int16_t val; // uint8_t is interpreted as char - strValue >> val; - if (val > 127 || val < -128) - throw ios::failure("Value out of range"); - *data.data = val; - break; - } - case 0x0003: // int16 - { - int16_t val; - strValue >> val; - *(int16_t *) data.data = cputole16(val); - break; - } - case 0x0004: // int32 - { - int32_t val; - strValue >> val; - *(int32_t *) data.data = cputole32(val); - break; - } - case 0x0005: // uint8 - { - uint16_t val; // uint8_t is interpreted as char - strValue >> val; - if (val > 0xff) - throw ios::failure("Value out of range"); - *data.data = val; - break; - } - case 0x0006: // uint16 - { - uint16_t val; - strValue >> val; - *(uint16_t *) data.data = cputole16(val); - break; - } - case 0x0007: // uint32 - { - uint32_t val; - strValue >> val; - *(uint32_t *) data.data = cputole32(val); - break; - } - case 0x0009: // string - if (strValue.str().size() >= data.data_size) { - err << "String too large"; - throw MasterException(err.str()); - } - data.data_size = strValue.str().size(); - strValue >> (char *) data.data; - break; - - default: - delete [] data.data; - err << "Unknown data type 0x" << hex << dataType->coeCode; - throw MasterException(err.str()); - } - } catch (ios::failure &e) { - delete [] data.data; - err << "Invalid value argument '" << commandArgs[2] - << "' for type '" << dataType->name << "'!"; - throw MasterException(err.str()); - } - - open(ReadWrite); - - if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) { - stringstream err; - err << "Failed to download Sdo: "; - if (errno == EIO && data.abort_code) { - err << "Abort code 0x" << hex << setfill('0') - << setw(8) << data.abort_code; - } else { - err << strerror(errno); - } - delete [] data.data; - throw MasterException(err.str()); - } - - delete [] data.data; -} - -/****************************************************************************/ - -void Master::sdoUpload( - int slavePosition, - const string &dataTypeStr, - const vector &commandArgs - ) -{ - stringstream strIndex, strSubIndex; - int sval; - ec_ioctl_slave_sdo_upload_t data; - unsigned int uval; - const CoEDataType *dataType = NULL; - - if (slavePosition < 0) { - stringstream err; - err << "'sdo_upload' requires a slave! Please specify --slave."; - throw MasterException(err.str()); - } - data.slave_position = slavePosition; - - if (commandArgs.size() != 2) { - stringstream err; - err << "'sdo_upload' takes two arguments!"; - throw MasterException(err.str()); - } - - strIndex << commandArgs[0]; - strIndex - >> resetiosflags(ios::basefield) // guess base from prefix - >> data.sdo_index; - if (strIndex.fail()) { - stringstream err; - err << "Invalid Sdo index '" << commandArgs[0] << "'!"; - throw MasterException(err.str()); - } - - strSubIndex << commandArgs[1]; - strSubIndex - >> resetiosflags(ios::basefield) // guess base from prefix - >> uval; - if (strSubIndex.fail() || uval > 0xff) { - stringstream err; - err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; - throw MasterException(err.str()); - } - data.sdo_entry_subindex = uval; - - if (dataTypeStr != "") { // data type specified - if (!(dataType = findDataType(dataTypeStr))) { - stringstream err; - err << "Invalid data type '" << dataTypeStr << "'!"; - throw MasterException(err.str()); - } - } else { // no data type specified: fetch from dictionary - ec_ioctl_slave_sdo_entry_t entry; - - open(Read); - - try { - getSdoEntry(&entry, slavePosition, - data.sdo_index, data.sdo_entry_subindex); - } catch (MasterException &e) { - stringstream err; - err << "Failed to determine Sdo entry data type. " - << "Please specify --type."; - throw MasterException(err.str()); - } - if (!(dataType = findDataType(entry.data_type))) { - stringstream err; - err << "Pdo entry has unknown data type 0x" - << hex << setfill('0') << setw(4) << entry.data_type << "!" - << " Please specify --type."; - throw MasterException(err.str()); - } - } - - if (dataType->byteSize) { - data.target_size = dataType->byteSize; - } else { - data.target_size = DefaultBufferSize; - } - - data.target = new uint8_t[data.target_size + 1]; - - open(Read); - - if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) { - stringstream err; - err << "Failed to upload Sdo: "; - if (errno == EIO && data.abort_code) { - err << "Abort code 0x" << hex << setfill('0') - << setw(8) << data.abort_code; - } else { - err << strerror(errno); - } - delete [] data.target; - close(); - throw MasterException(err.str()); - } - - close(); - - if (dataType->byteSize && data.data_size != dataType->byteSize) { - stringstream err; - err << "Data type mismatch. Expected " << dataType->name - << " with " << dataType->byteSize << " byte, but got " - << data.data_size << " byte."; - throw MasterException(err.str()); - } - - cout << setfill('0'); - switch (dataType->coeCode) { - case 0x0002: // int8 - sval = *(int8_t *) data.target; - cout << sval << " 0x" << hex << setw(2) << sval << endl; - break; - case 0x0003: // int16 - sval = le16tocpu(*(int16_t *) data.target); - cout << sval << " 0x" << hex << setw(4) << sval << endl; - break; - case 0x0004: // int32 - sval = le32tocpu(*(int32_t *) data.target); - cout << sval << " 0x" << hex << setw(8) << sval << endl; - break; - case 0x0005: // uint8 - uval = (unsigned int) *(uint8_t *) data.target; - cout << uval << " 0x" << hex << setw(2) << uval << endl; - break; - case 0x0006: // uint16 - uval = le16tocpu(*(uint16_t *) data.target); - cout << uval << " 0x" << hex << setw(4) << uval << endl; - break; - case 0x0007: // uint32 - uval = le32tocpu(*(uint32_t *) data.target); - cout << uval << " 0x" << hex << setw(8) << uval << endl; - break; - case 0x0009: // string - cout << string((const char *) data.target, data.data_size) - << endl; - break; - default: - printRawData(data.target, data.data_size); - break; - } - - delete [] data.target; -} - -/****************************************************************************/ - -void Master::showSlaves(int slavePosition) -{ - open(Read); - - if (verbosity == Verbose) { - if (slavePosition == -1) { - unsigned int numSlaves = slaveCount(), i; - - for (i = 0; i < numSlaves; i++) { - showSlave(i); - } - } else { - showSlave(slavePosition); - } - } else { - listSlaves(slavePosition); - } -} - -/****************************************************************************/ - -struct CategoryName { - uint16_t type; - const char *name; -}; - -static const CategoryName categoryNames[] = { - {0x000a, "STRINGS"}, - {0x0014, "DataTypes"}, - {0x001e, "General"}, - {0x0028, "FMMU"}, - {0x0029, "SyncM"}, - {0x0032, "TXPDO"}, - {0x0033, "RXPDO"}, - {0x003c, "DC"}, - {} -}; - -const char *getCategoryName(uint16_t type) -{ - const CategoryName *cn = categoryNames; - - while (cn->type) { - if (cn->type == type) { - return cn->name; - } - cn++; - } - - return "unknown"; -} - -void Master::siiRead(int slavePosition) -{ - ec_ioctl_slave_sii_t data; - ec_ioctl_slave_t slave; - unsigned int i; - const uint16_t *categoryHeader; - uint16_t categoryType, categorySize; - stringstream err; - - if (slavePosition < 0) { - stringstream err; - err << "'sii_read' requires a slave! Please specify --slave."; - throw MasterException(err.str()); - } - data.slave_position = slavePosition; - - open(Read); - - getSlave(&slave, slavePosition); - - if (!slave.sii_nwords) - return; - - data.offset = 0; - data.nwords = slave.sii_nwords; - data.words = new uint16_t[data.nwords]; - - if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) { - stringstream err; - delete [] data.words; - err << "Failed to read SII: " << strerror(errno); - throw MasterException(err.str()); - } - - if (verbosity == Verbose) { - cout << "SII Area:" << hex << setfill('0'); - for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) { - if (i % BreakAfterBytes) { - cout << " "; - } else { - cout << endl << " "; - } - cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i); - } - cout << endl; - - if (data.nwords > 0x0040U) { - // cycle through categories - categoryHeader = data.words + 0x0040U; - categoryType = le16tocpu(*categoryHeader); - while (categoryType != 0xffff) { - cout << "SII Category 0x" << hex - << setw(4) << categoryType - << " (" << getCategoryName(categoryType) << ")" << flush; - - if (categoryHeader + 1 > data.words + data.nwords) { - err << "SII data seem to be corrupted!"; - throw MasterException(err.str()); - } - categorySize = le16tocpu(*(categoryHeader + 1)); - cout << ", " << dec << categorySize << " words" << flush; - - if (categoryHeader + 2 + categorySize - > data.words + data.nwords) { - err << "SII data seem to be corrupted!"; - throw MasterException(err.str()); - } - - cout << hex; - for (i = 0; i < categorySize * 2U; i++) { - if (i % BreakAfterBytes) { - cout << " "; - } else { - cout << endl << " "; - } - cout << setw(2) << (unsigned int) - *((uint8_t *) (categoryHeader + 2) + i); - } - cout << endl; - - if (categoryHeader + 2 + categorySize + 1 - > data.words + data.nwords) { - err << "SII data seem to be corrupted!"; - throw MasterException(err.str()); - } - categoryHeader += 2 + categorySize; - categoryType = le16tocpu(*categoryHeader); - } - } - } else { - for (i = 0; i < data.nwords; i++) { - uint16_t *w = data.words + i; - cout << *(uint8_t *) w << *((uint8_t *) w + 1); - } - } - - delete [] data.words; -} - -/****************************************************************************/ - -void Master::siiWrite( - int slavePosition, - bool force, - const vector &commandArgs - ) -{ - stringstream err; - ec_ioctl_slave_sii_t data; - ifstream file; - unsigned int byte_size; - const uint16_t *categoryHeader; - uint16_t categoryType, categorySize; - uint8_t crc; - - if (slavePosition < 0) { - err << "'sii_write' requires a slave! Please specify --slave."; - throw MasterException(err.str()); - } - data.slave_position = slavePosition; - - if (commandArgs.size() != 1) { - err << "'ssi_write' takes exactly one argument!"; - throw MasterException(err.str()); - } - - file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary); - if (file.fail()) { - err << "Failed to open '" << commandArgs[0] << "'!"; - throw MasterException(err.str()); - } - - // get length of file - file.seekg(0, ios::end); - byte_size = file.tellg(); - file.seekg(0, ios::beg); - - if (!byte_size || byte_size % 2) { - stringstream err; - err << "Invalid file size! Must be non-zero and even."; - throw MasterException(err.str()); - } - - data.nwords = byte_size / 2; - if (data.nwords < 0x0041 && !force) { - err << "SII data too short (" << data.nwords << " words)! Mimimum is" - " 40 fixed words + 1 delimiter. Use --force to write anyway."; - throw MasterException(err.str()); - } - - // allocate buffer and read file into buffer - data.words = new uint16_t[data.nwords]; - file.read((char *) data.words, byte_size); - file.close(); - - if (!force) { - // calculate checksum over words 0 to 6 - crc = calcSiiCrc((const uint8_t *) data.words, 14); - if (crc != ((const uint8_t *) data.words)[14]) { - err << "CRC incorrect. Must be 0x" - << hex << setfill('0') << setw(2) << (unsigned int) crc - << ". Use --force to write anyway."; - throw MasterException(err.str()); - } - - // cycle through categories to detect corruption - categoryHeader = data.words + 0x0040U; - categoryType = le16tocpu(*categoryHeader); - while (categoryType != 0xffff) { - if (categoryHeader + 1 > data.words + data.nwords) { - err << "SII data seem to be corrupted! " - << "Use --force to write anyway."; - throw MasterException(err.str()); - } - categorySize = le16tocpu(*(categoryHeader + 1)); - if (categoryHeader + 2 + categorySize + 1 - > data.words + data.nwords) { - err << "SII data seem to be corrupted! " - "Use --force to write anyway."; - throw MasterException(err.str()); - } - categoryHeader += 2 + categorySize; - categoryType = le16tocpu(*categoryHeader); - } - } - - // send data to master - open(ReadWrite); - data.offset = 0; - if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) { - stringstream err; - err << "Failed to write SII: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::requestStates( - int slavePosition, - const vector &commandArgs - ) -{ - string stateStr; - uint8_t state; - - if (commandArgs.size() != 1) { - stringstream err; - err << "'state' takes exactly one argument!"; - throw MasterException(err.str()); - } - - stateStr = commandArgs[0]; - transform(stateStr.begin(), stateStr.end(), - stateStr.begin(), (int (*) (int)) std::toupper); - - if (stateStr == "INIT") { - state = 0x01; - } else if (stateStr == "PREOP") { - state = 0x02; - } else if (stateStr == "SAFEOP") { - state = 0x04; - } else if (stateStr == "OP") { - state = 0x08; - } else { - stringstream err; - err << "Invalid state '" << commandArgs[0] << "'!"; - throw MasterException(err.str()); - } - - open(ReadWrite); - - if (slavePosition == -1) { - unsigned int i, numSlaves = slaveCount(); - for (i = 0; i < numSlaves; i++) - requestState(i, state); - } else { - requestState(slavePosition, state); - } -} - -/****************************************************************************/ - -void Master::generateXml(int slavePosition) -{ - open(Read); - - if (slavePosition == -1) { - unsigned int numSlaves = slaveCount(), i; - - for (i = 0; i < numSlaves; i++) { - generateSlaveXml(i); - } - } else { - generateSlaveXml(slavePosition); - } -} - -/****************************************************************************/ - -void Master::open(Permissions perm) -{ - stringstream deviceName; - - if (fd != -1) { // already open - return; - } - - deviceName << "/dev/EtherCAT" << index; - - if ((fd = ::open(deviceName.str().c_str(), - perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) { - stringstream err; - err << "Failed to open master device " << deviceName.str() << ": " - << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::close() -{ - if (fd == -1) - return; - - ::close(fd); - fd = -1; -} - -/*****************************************************************************/ - -/** - * Writes the Secondary slave address (alias) to the slave's SII. - */ -void Master::writeSlaveAlias( - uint16_t slavePosition, - uint16_t alias - ) -{ - ec_ioctl_slave_sii_t data; - ec_ioctl_slave_t slave; - stringstream err; - uint8_t crc; - - open(ReadWrite); - - getSlave(&slave, slavePosition); - - if (slave.sii_nwords < 8) { - err << "Current SII contents are too small to set an alias " - << "(" << slave.sii_nwords << " words)!"; - throw MasterException(err.str()); - } - - data.slave_position = slavePosition; - data.offset = 0; - data.nwords = 8; - data.words = new uint16_t[data.nwords]; - - // read first 8 SII words - if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) { - delete [] data.words; - err << "Failed to read SII: " << strerror(errno); - throw MasterException(err.str()); - } - - // write new alias address in word 4 - data.words[4] = cputole16(alias); - - // calculate checksum over words 0 to 6 - crc = calcSiiCrc((const uint8_t *) data.words, 14); - - // write new checksum into first byte of word 7 - *(uint8_t *) (data.words + 7) = crc; - - // write first 8 words with new alias and checksum - if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) { - delete [] data.words; - err << "Failed to write SII: " << strerror(errno); - throw MasterException(err.str()); - } - - delete [] data.words; -} - -/*****************************************************************************/ - -/** Lists the complete bus configuration. - */ -void Master::showDetailedConfigs(const ConfigList &configList) -{ - ConfigList::const_iterator configIter; - unsigned int j, k, l; - ec_ioctl_config_pdo_t pdo; - ec_ioctl_config_pdo_entry_t entry; - ec_ioctl_config_sdo_t sdo; - - for (configIter = configList.begin(); - configIter != configList.end(); - configIter++) { - - cout << "Alias: " - << dec << configIter->alias << endl - << "Position: " << configIter->position << endl - << "Vendor Id: 0x" - << hex << setfill('0') - << setw(8) << configIter->vendor_id << endl - << "Product code: 0x" - << setw(8) << configIter->product_code << endl - << "Attached: " << (configIter->attached ? "yes" : "no") << endl - << "Operational: " << (configIter->operational ? "yes" : "no") << endl; - - for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { - if (configIter->syncs[j].pdo_count) { - cout << "SM" << dec << j << " (" - << (configIter->syncs[j].dir == EC_DIR_INPUT - ? "Input" : "Output") << ")" << endl; - for (k = 0; k < configIter->syncs[j].pdo_count; k++) { - getConfigPdo(&pdo, configIter->config_index, j, k); - - cout << " Pdo 0x" << hex - << setw(4) << pdo.index - << " \"" << pdo.name << "\"" << endl; - - for (l = 0; l < pdo.entry_count; l++) { - getConfigPdoEntry(&entry, configIter->config_index, j, k, l); - - cout << " Pdo entry 0x" << hex - << setw(4) << entry.index << ":" - << setw(2) << (unsigned int) entry.subindex - << ", " << dec << (unsigned int) entry.bit_length - << " bit, \"" << entry.name << "\"" << endl; - } - } - } - } - - cout << "Sdo configuration:" << endl; - if (configIter->sdo_count) { - for (j = 0; j < configIter->sdo_count; j++) { - getConfigSdo(&sdo, configIter->config_index, j); - - cout << " 0x" - << hex << setfill('0') - << setw(4) << sdo.index << ":" - << setw(2) << (unsigned int) sdo.subindex - << ", " << dec << sdo.size << " byte: " << hex; - - switch (sdo.size) { - case 1: - cout << "0x" << setw(2) - << (unsigned int) *(uint8_t *) &sdo.data; - break; - case 2: - cout << "0x" << setw(4) - << le16tocpu(*(uint16_t *) &sdo.data); - break; - case 4: - cout << "0x" << setw(8) - << le32tocpu(*(uint32_t *) &sdo.data); - break; - default: - cout << "???"; - } - - cout << endl; - } - } else { - cout << " None." << endl; - } - - cout << endl; - } -} - -/*****************************************************************************/ - -struct ConfigInfo { - string alias; - string pos; - string ident; - string att; - string op; -}; - -/** Lists the bus configuration. - */ -void Master::listConfigs(const ConfigList &configList) -{ - ConfigList::const_iterator configIter; - stringstream str; - ConfigInfo info; - typedef list ConfigInfoList; - ConfigInfoList list; - ConfigInfoList::const_iterator iter; - unsigned int maxAliasWidth = 0, maxPosWidth = 0, - maxAttWidth = 0, maxOpWidth = 0; - - for (configIter = configList.begin(); - configIter != configList.end(); - configIter++) { - - str << dec << configIter->alias; - info.alias = str.str(); - str.clear(); - str.str(""); - - str << configIter->position; - info.pos = str.str(); - str.clear(); - str.str(""); - - str << hex << setfill('0') - << "0x" << setw(8) << configIter->vendor_id - << "/0x" << setw(8) << configIter->product_code; - info.ident = str.str(); - str.clear(); - str.str(""); - - str << (configIter->attached ? "attached" : "-"); - info.att = str.str(); - str.clear(); - str.str(""); - - str << (configIter->operational ? "operational" : "-"); - info.op = str.str(); - str.clear(); - str.str(""); - - list.push_back(info); - - if (info.alias.length() > maxAliasWidth) - maxAliasWidth = info.alias.length(); - if (info.pos.length() > maxPosWidth) - maxPosWidth = info.pos.length(); - if (info.att.length() > maxAttWidth) - maxAttWidth = info.att.length(); - if (info.op.length() > maxOpWidth) - maxOpWidth = info.op.length(); - } - - for (iter = list.begin(); iter != list.end(); iter++) { - cout << setfill(' ') << right - << setw(maxAliasWidth) << iter->alias - << ":" << left - << setw(maxPosWidth) << iter->pos - << " " - << iter->ident - << " " - << setw(maxAttWidth) << iter->att << " " - << setw(maxOpWidth) << iter->op << " " - << endl; - } -} - -/****************************************************************************/ - -void Master::outputDomainData(unsigned int domainIndex) -{ - ec_ioctl_domain_t domain; - ec_ioctl_domain_data_t data; - unsigned char *processData; - unsigned int i; - - getDomain(&domain, domainIndex); - - if (!domain.data_size) - return; - - processData = new unsigned char[domain.data_size]; - - try { - getData(&data, domainIndex, domain.data_size, processData); - } catch (MasterException &e) { - delete [] processData; - throw e; - } - - for (i = 0; i < data.data_size; i++) - cout << processData[i]; - cout.flush(); - - delete [] processData; -} - -/****************************************************************************/ - -void Master::showDomain(unsigned int domainIndex) -{ - ec_ioctl_domain_t domain; - unsigned char *processData; - ec_ioctl_domain_data_t data; - unsigned int i, j; - ec_ioctl_domain_fmmu_t fmmu; - unsigned int dataOffset; - - getDomain(&domain, domainIndex); - - cout << "Domain" << dec << domainIndex << ":" - << " LogBaseAddr 0x" - << hex << setfill('0') - << setw(8) << domain.logical_base_address - << ", Size " << dec << setfill(' ') - << setw(3) << domain.data_size - << ", WorkingCounter " - << domain.working_counter << "/" - << domain.expected_working_counter << endl; - - if (!domain.data_size || verbosity != Verbose) - return; - - processData = new unsigned char[domain.data_size]; - - try { - getData(&data, domainIndex, domain.data_size, processData); - } catch (MasterException &e) { - delete [] processData; - throw e; - } - - for (i = 0; i < domain.fmmu_count; i++) { - getFmmu(&fmmu, domainIndex, i); - - cout << " SlaveConfig " - << dec << fmmu.slave_config_alias - << ":" << fmmu.slave_config_position - << ", SM" << (unsigned int) fmmu.sync_index << " (" - << setfill(' ') << setw(6) - << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output") - << "), LogAddr 0x" - << hex << setfill('0') - << setw(8) << fmmu.logical_address - << ", Size " << dec << fmmu.data_size << endl; - - dataOffset = fmmu.logical_address - domain.logical_base_address; - if (dataOffset + fmmu.data_size > domain.data_size) { - stringstream err; - err << "Fmmu information corrupted!"; - delete [] processData; - throw MasterException(err.str()); - } - - cout << " " << hex << setfill('0'); - for (j = 0; j < fmmu.data_size; j++) { - if (j && !(j % BreakAfterBytes)) - cout << endl << " "; - cout << setw(2) - << (unsigned int) *(processData + dataOffset + j) << " "; - } - cout << endl; - } - - delete [] processData; -} - -/****************************************************************************/ - -void Master::listSlavePdos( - uint16_t slavePosition, - bool withHeader - ) -{ - ec_ioctl_slave_t slave; - ec_ioctl_slave_sync_t sync; - ec_ioctl_slave_sync_pdo_t pdo; - ec_ioctl_slave_sync_pdo_entry_t entry; - unsigned int i, j, k; - - getSlave(&slave, slavePosition); - - if (withHeader) - cout << "=== Slave " << slavePosition << " ===" << endl; - - for (i = 0; i < slave.sync_count; i++) { - getSync(&sync, slavePosition, i); - - cout << "SM" << i << ":" - << " PhysAddr 0x" - << hex << setfill('0') - << setw(4) << sync.physical_start_address - << ", DefaultSize " - << dec << setfill(' ') << setw(4) << sync.default_size - << ", ControlRegister 0x" - << hex << setfill('0') << setw(2) - << (unsigned int) sync.control_register - << ", Enable " << dec << (unsigned int) sync.enable - << endl; - - for (j = 0; j < sync.pdo_count; j++) { - getPdo(&pdo, slavePosition, i, j); - - cout << " " << (sync.control_register & 0x04 ? "R" : "T") - << "xPdo 0x" - << hex << setfill('0') - << setw(4) << pdo.index - << " \"" << pdo.name << "\"" << endl; - - if (verbosity == Quiet) - continue; - - for (k = 0; k < pdo.entry_count; k++) { - getPdoEntry(&entry, slavePosition, i, j, k); - - cout << " Pdo entry 0x" - << hex << setfill('0') - << setw(4) << entry.index - << ":" << setw(2) << (unsigned int) entry.subindex - << ", " << dec << (unsigned int) entry.bit_length - << " bit, \"" << entry.name << "\"" << endl; - } - } - } -} - -/****************************************************************************/ - -void Master::listSlaveSdos( - uint16_t slavePosition, - bool withHeader - ) -{ - ec_ioctl_slave_t slave; - ec_ioctl_slave_sdo_t sdo; - ec_ioctl_slave_sdo_entry_t entry; - unsigned int i, j; - const CoEDataType *d; - - getSlave(&slave, slavePosition); - - if (withHeader) - cout << "=== Slave " << slavePosition << " ===" << endl; - - for (i = 0; i < slave.sdo_count; i++) { - getSdo(&sdo, slavePosition, i); - - cout << "Sdo 0x" - << hex << setfill('0') - << setw(4) << sdo.sdo_index - << ", \"" << sdo.name << "\"" << endl; - - if (verbosity == Quiet) - continue; - - for (j = 0; j <= sdo.max_subindex; j++) { - getSdoEntry(&entry, slavePosition, -i, j); - - cout << " 0x" << hex << setfill('0') - << setw(4) << sdo.sdo_index << ":" - << setw(2) << (unsigned int) entry.sdo_entry_subindex - << ", "; - - if ((d = findDataType(entry.data_type))) { - cout << d->name; - } else { - cout << "type " << setw(4) << entry.data_type; - } - - cout << ", " << dec << entry.bit_length << " bit, \"" - << entry.description << "\"" << endl; - } - } -} - -/****************************************************************************/ - -struct SlaveInfo { - string pos; - string alias; - string relPos; - string state; - string flag; - string name; -}; - -void Master::listSlaves(int slavePosition) -{ - unsigned int numSlaves, i; - ec_ioctl_slave_t slave; - uint16_t lastAlias, aliasIndex; - SlaveInfo slaveInfo; - typedef list SlaveInfoList; - SlaveInfoList slaveInfoList; - SlaveInfoList::const_iterator iter; - stringstream str; - unsigned int maxPosWidth = 0, maxAliasWidth = 0, - maxRelPosWidth = 0, maxStateWidth = 0; - - open(Read); - - numSlaves = slaveCount(); - - lastAlias = 0; - aliasIndex = 0; - for (i = 0; i < numSlaves; i++) { - getSlave(&slave, i); - - if (slave.alias) { - lastAlias = slave.alias; - aliasIndex = 0; - } - - if (slavePosition == -1 || i == (unsigned int) slavePosition) { - str << dec << i; - slaveInfo.pos = str.str(); - str.clear(); - str.str(""); - - str << lastAlias; - slaveInfo.alias = str.str(); - str.str(""); - - str << aliasIndex; - slaveInfo.relPos = str.str(); - str.str(""); - - slaveInfo.state = slaveState(slave.state); - slaveInfo.flag = (slave.error_flag ? 'E' : '+'); - - if (strlen(slave.name)) { - slaveInfo.name = slave.name; - } else { - str << "0x" << hex << setfill('0') - << setw(8) << slave.vendor_id << ":0x" - << setw(8) << slave.product_code; - slaveInfo.name = str.str(); - str.str(""); - } - - - slaveInfoList.push_back(slaveInfo); - - if (slaveInfo.pos.length() > maxPosWidth) - maxPosWidth = slaveInfo.pos.length(); - if (slaveInfo.alias.length() > maxAliasWidth) - maxAliasWidth = slaveInfo.alias.length(); - if (slaveInfo.relPos.length() > maxRelPosWidth) - maxRelPosWidth = slaveInfo.relPos.length(); - if (slaveInfo.state.length() > maxStateWidth) - maxStateWidth = slaveInfo.state.length(); - } - - aliasIndex++; - } - - for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) { - cout << setfill(' ') << right - << setw(maxPosWidth) << iter->pos << " " - << setw(maxAliasWidth) << iter->alias - << ":" << left - << setw(maxRelPosWidth) << iter->relPos << " " - << setw(maxStateWidth) << iter->state << " " - << iter->flag << " " - << iter->name << endl; - } -} - -/****************************************************************************/ - -void Master::showSlave(uint16_t slavePosition) -{ - ec_ioctl_slave_t slave; - list protoList; - list::const_iterator protoIter; - - getSlave(&slave, slavePosition); - - cout << "=== Slave " << dec << slavePosition << " ===" << endl; - - if (slave.alias) - cout << "Alias: " << slave.alias << endl; - - cout - << "State: " << slaveState(slave.state) << endl - << "Flag: " << (slave.error_flag ? 'E' : '+') << endl - << "Identity:" << endl - << " Vendor Id: 0x" - << hex << setfill('0') - << setw(8) << slave.vendor_id << endl - << " Product code: 0x" - << setw(8) << slave.product_code << endl - << " Revision number: 0x" - << setw(8) << slave.revision_number << endl - << " Serial number: 0x" - << setw(8) << slave.serial_number << endl; - - if (slave.mailbox_protocols) { - cout << "Mailboxes:" << endl - << " RX: 0x" - << hex << setw(4) << slave.rx_mailbox_offset << "/" - << dec << slave.rx_mailbox_size - << ", TX: 0x" - << hex << setw(4) << slave.tx_mailbox_offset << "/" - << dec << slave.tx_mailbox_size << endl - << " Supported protocols: "; - - if (slave.mailbox_protocols & EC_MBOX_AOE) { - protoList.push_back("AoE"); - } - if (slave.mailbox_protocols & EC_MBOX_EOE) { - protoList.push_back("EoE"); - } - if (slave.mailbox_protocols & EC_MBOX_COE) { - protoList.push_back("CoE"); - } - if (slave.mailbox_protocols & EC_MBOX_FOE) { - protoList.push_back("FoE"); - } - if (slave.mailbox_protocols & EC_MBOX_SOE) { - protoList.push_back("SoE"); - } - if (slave.mailbox_protocols & EC_MBOX_VOE) { - protoList.push_back("VoE"); - } - - for (protoIter = protoList.begin(); protoIter != protoList.end(); - protoIter++) { - if (protoIter != protoList.begin()) - cout << ", "; - cout << *protoIter; - } - cout << endl; - } - - if (slave.has_general_category) { - cout << "General:" << endl - << " Group: " << slave.group << endl - << " Image name: " << slave.image << endl - << " Order number: " << slave.order << endl - << " Device name: " << slave.name << endl; - - if (slave.mailbox_protocols & EC_MBOX_COE) { - cout << " CoE details:" << endl - << " Enable Sdo: " - << (slave.coe_details.enable_sdo ? "yes" : "no") << endl - << " Enable Sdo Info: " - << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl - << " Enable Pdo Assign: " - << (slave.coe_details.enable_pdo_assign - ? "yes" : "no") << endl - << " Enable Pdo Configuration: " - << (slave.coe_details.enable_pdo_configuration - ? "yes" : "no") << endl - << " Enable Upload at startup: " - << (slave.coe_details.enable_upload_at_startup - ? "yes" : "no") << endl - << " Enable Sdo complete access: " - << (slave.coe_details.enable_sdo_complete_access - ? "yes" : "no") << endl; - } - - cout << " Flags:" << endl - << " Enable SafeOp: " - << (slave.general_flags.enable_safeop ? "yes" : "no") << endl - << " Enable notLRW: " - << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl - << " Current consumption: " - << dec << slave.current_on_ebus << " mA" << endl; - } -} - -/****************************************************************************/ - -void Master::generateSlaveXml(uint16_t slavePosition) -{ - ec_ioctl_slave_t slave; - ec_ioctl_slave_sync_t sync; - ec_ioctl_slave_sync_pdo_t pdo; - string pdoType; - ec_ioctl_slave_sync_pdo_entry_t entry; - unsigned int i, j, k; - - getSlave(&slave, slavePosition); - - cout - << "" << endl - << " " << endl - << " " << endl - << " " << endl - << " " << slave.vendor_id << "" << endl - << " " << endl - << " " << endl - << " " << endl - << " " << endl - << " " << slave.order << "" << endl; - - if (strlen(slave.name)) { - cout - << " " << endl; - } - - for (i = 0; i < slave.sync_count; i++) { - getSync(&sync, slavePosition, i); - - cout - << " " << endl; - } - - for (i = 0; i < slave.sync_count; i++) { - getSync(&sync, slavePosition, i); - - for (j = 0; j < sync.pdo_count; j++) { - getPdo(&pdo, slavePosition, i, j); - pdoType = (sync.control_register & 0x04 ? "R" : "T"); - pdoType += "xPdo"; - - cout - << " <" << pdoType - << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl - << " #x" - << hex << setfill('0') << setw(4) << pdo.index - << "" << endl - << " " << pdo.name << "" << endl; - - for (k = 0; k < pdo.entry_count; k++) { - getPdoEntry(&entry, slavePosition, i, j, k); - - cout - << " " << endl - << " #x" - << hex << setfill('0') << setw(4) << entry.index - << "" << endl; - if (entry.index) - cout - << " " - << dec << (unsigned int) entry.subindex - << "" << endl; - - cout - << " " - << dec << (unsigned int) entry.bit_length - << "" << endl; - - if (entry.index) { - cout - << " " << entry.name - << "" << endl - << " "; - - if (entry.bit_length == 1) { - cout << "BOOL"; - } else if (!(entry.bit_length % 8)) { - if (entry.bit_length <= 64) - cout << "UINT" << (unsigned int) entry.bit_length; - else - cout << "STRING(" - << (unsigned int) (entry.bit_length / 8) - << ")"; - } else { - cerr << "Invalid bit length " - << (unsigned int) entry.bit_length << endl; - } - - cout << "" << endl; - } - - cout << " " << endl; - } - - cout - << " " << endl; - } - } - - cout - << " " << endl - << " " << endl - << " " << endl - << "" << endl; -} - -/****************************************************************************/ - -unsigned int Master::slaveCount() -{ - ec_ioctl_master_t data; - - getMaster(&data); - return data.slave_count; -} - -/****************************************************************************/ - -void Master::getMaster(ec_ioctl_master_t *data) -{ - if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) { - stringstream err; - err << "Failed to get master information: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getConfig(ec_ioctl_config_t *data, unsigned int index) -{ - data->config_index = index; - - if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) { - stringstream err; - err << "Failed to get slave configuration: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getConfigPdo( - ec_ioctl_config_pdo_t *data, - unsigned int index, - uint8_t sync_index, - uint16_t pdo_pos - ) -{ - data->config_index = index; - data->sync_index = sync_index; - data->pdo_pos = pdo_pos; - - if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) { - stringstream err; - err << "Failed to get slave config Pdo: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getConfigPdoEntry( - ec_ioctl_config_pdo_entry_t *data, - unsigned int index, - uint8_t sync_index, - uint16_t pdo_pos, - uint8_t entry_pos - ) -{ - data->config_index = index; - data->sync_index = sync_index; - data->pdo_pos = pdo_pos; - data->entry_pos = entry_pos; - - if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) { - stringstream err; - err << "Failed to get slave config Pdo entry: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getConfigSdo( - ec_ioctl_config_sdo_t *data, - unsigned int index, - unsigned int sdo_pos - ) -{ - data->config_index = index; - data->sdo_pos = sdo_pos; - - if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) { - stringstream err; - err << "Failed to get slave config Sdo: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index) -{ - data->index = index; - - if (ioctl(fd, EC_IOCTL_DOMAIN, data)) { - stringstream err; - err << "Failed to get domain: "; - if (errno == EINVAL) - err << "Domain " << index << " does not exist!"; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex, - unsigned int dataSize, unsigned char *mem) -{ - data->domain_index = domainIndex; - data->data_size = dataSize; - data->target = mem; - - if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) { - stringstream err; - err << "Failed to get domain data: " << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex) -{ - slave->position = slaveIndex; - - if (ioctl(fd, EC_IOCTL_SLAVE, slave)) { - stringstream err; - err << "Failed to get slave: "; - if (errno == EINVAL) - err << "Slave " << slaveIndex << " does not exist!"; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getFmmu( - ec_ioctl_domain_fmmu_t *fmmu, - unsigned int domainIndex, - unsigned int fmmuIndex - ) -{ - fmmu->domain_index = domainIndex; - fmmu->fmmu_index = fmmuIndex; - - if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) { - stringstream err; - err << "Failed to get domain FMMU: "; - if (errno == EINVAL) - err << "Either domain " << domainIndex << " does not exist, " - << "or it contains less than " << (unsigned int) fmmuIndex + 1 - << " FMMus!"; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getSync( - ec_ioctl_slave_sync_t *sync, - uint16_t slaveIndex, - uint8_t syncIndex - ) -{ - sync->slave_position = slaveIndex; - sync->sync_index = syncIndex; - - if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) { - stringstream err; - err << "Failed to get sync manager: "; - if (errno == EINVAL) - err << "Either slave " << slaveIndex << " does not exist, " - << "or it contains less than " << (unsigned int) syncIndex + 1 - << " sync managers!"; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getPdo( - ec_ioctl_slave_sync_pdo_t *pdo, - uint16_t slaveIndex, - uint8_t syncIndex, - uint8_t pdoPos - ) -{ - pdo->slave_position = slaveIndex; - pdo->sync_index = syncIndex; - pdo->pdo_pos = pdoPos; - - if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) { - stringstream err; - err << "Failed to get Pdo: "; - if (errno == EINVAL) - err << "Either slave " << slaveIndex << " does not exist, " - << "or it contains less than " << (unsigned int) syncIndex + 1 - << " sync managers, or sync manager " - << (unsigned int) syncIndex << " contains less than " - << pdoPos + 1 << " Pdos!" << endl; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getPdoEntry( - ec_ioctl_slave_sync_pdo_entry_t *entry, - uint16_t slaveIndex, - uint8_t syncIndex, - uint8_t pdoPos, - uint8_t entryPos - ) -{ - entry->slave_position = slaveIndex; - entry->sync_index = syncIndex; - entry->pdo_pos = pdoPos; - entry->entry_pos = entryPos; - - if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) { - stringstream err; - err << "Failed to get Pdo entry: "; - if (errno == EINVAL) - err << "Either slave " << slaveIndex << " does not exist, " - << "or it contains less than " << (unsigned int) syncIndex + 1 - << " sync managers, or sync manager " - << (unsigned int) syncIndex << " contains less than " - << pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos - << " contains less than " << (unsigned int) entryPos + 1 - << " entries!" << endl; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getSdo( - ec_ioctl_slave_sdo_t *sdo, - uint16_t slaveIndex, - uint16_t sdoPosition - ) -{ - sdo->slave_position = slaveIndex; - sdo->sdo_position = sdoPosition; - - if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) { - stringstream err; - err << "Failed to get Sdo: "; - if (errno == EINVAL) - err << "Either slave " << slaveIndex << " does not exist, " - << "or it contains less than " << sdoPosition + 1 << " Sdos!" - << endl; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::getSdoEntry( - ec_ioctl_slave_sdo_entry_t *entry, - uint16_t slaveIndex, - int sdoSpec, - uint8_t entrySubindex - ) -{ - entry->slave_position = slaveIndex; - entry->sdo_spec = sdoSpec; - entry->sdo_entry_subindex = entrySubindex; - - if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) { - stringstream err; - err << "Failed to get Sdo entry: "; - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -void Master::requestState( - uint16_t slavePosition, - uint8_t state - ) -{ - ec_ioctl_slave_state_t data; - - data.slave_position = slavePosition; - data.requested_state = state; - - if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) { - stringstream err; - err << "Failed to request slave state: "; - if (errno == EINVAL) - err << "Slave " << slavePosition << " does not exist!"; - else - err << strerror(errno); - throw MasterException(err.str()); - } -} - -/****************************************************************************/ - -string Master::slaveState(uint8_t state) -{ - switch (state) { - case 1: return "INIT"; - case 2: return "PREOP"; - case 4: return "SAFEOP"; - case 8: return "OP"; - default: return "???"; - } -} - -/****************************************************************************/ - -void Master::printRawData( - const uint8_t *data, - unsigned int size) -{ - cout << hex << setfill('0'); - while (size--) { - cout << "0x" << setw(2) << (unsigned int) *data++; - if (size) - cout << " "; - } - cout << endl; -} - -/*****************************************************************************/ - -/** - * Calculates the SII checksum field. - * - * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an - * initial value of 0xff (see IEC 61158-6-12 ch. 5.4). - * - * The below code was originally generated with PYCRC - * http://www.tty1.net/pycrc - * - * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff - * --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit - * - * \return CRC8 - */ -uint8_t Master::calcSiiCrc( - const uint8_t *data, /**< pointer to data */ - size_t length /**< number of bytes in \a data */ - ) -{ - unsigned int i; - uint8_t bit, byte, crc = 0x48; - - while (length--) { - byte = *data++; - for (i = 0; i < 8; i++) { - bit = crc & 0x80; - crc = (crc << 1) | ((byte >> (7 - i)) & 0x01); - if (bit) crc ^= 0x07; - } - } - - for (i = 0; i < 8; i++) { - bit = crc & 0x80; - crc <<= 1; - if (bit) crc ^= 0x07; - } - - return crc; -} - -/*****************************************************************************/ diff -r 52a005ffd011 -r ee305a780a02 tool/Master.h --- a/tool/Master.h Mon Jul 21 22:06:33 2008 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,121 +0,0 @@ -/***************************************************************************** - * - * $Id$ - * - ****************************************************************************/ - -#ifndef __EC_MASTER_H__ -#define __EC_MASTER_H__ - -#include -#include -#include -#include -using namespace std; - -#include "../include/ecrt.h" -#include "../master/ioctl.h" - -/****************************************************************************/ - -class MasterException: - public runtime_error -{ - public: - /** Constructor with std::string parameter. */ - MasterException( - const string &s /**< Message. */ - ): runtime_error(s) {} - - /** Constructor with const char pointer parameter. */ - MasterException( - const char *s /**< Message. */ - ): runtime_error(s) {} -}; - -/****************************************************************************/ - -class Master -{ - public: - Master(); - ~Master(); - - void setIndex(unsigned int); - - enum Verbosity { - Quiet, - Normal, - Verbose - }; - void setVerbosity(Verbosity); - - void writeAlias(int, bool, const vector &); - void showConfigs(); - void outputData(int); - void setDebug(const vector &); - void showDomains(int); - void showMaster(); - void listPdos(int); - void listSdos(int); - void sdoDownload(int, const string &, const vector &); - void sdoUpload(int, const string &, const vector &); - void showSlaves(int); - void siiRead(int); - void siiWrite(int, bool, const vector &); - void requestStates(int, const vector &); - void generateXml(int); - - protected: - enum Permissions {Read, ReadWrite}; - void open(Permissions); - void close(); - - void writeSlaveAlias(uint16_t, uint16_t); - typedef list ConfigList; - void showDetailedConfigs(const ConfigList &); - void listConfigs(const ConfigList &); - void outputDomainData(unsigned int); - enum {BreakAfterBytes = 16}; - void showDomain(unsigned int); - void listSlavePdos(uint16_t, bool = false); - void listSlaveSdos(uint16_t, bool = false); - void listSlaves(int); - void showSlave(uint16_t); - void generateSlaveXml(uint16_t); - unsigned int slaveCount(); - void getMaster(ec_ioctl_master_t *); - void getConfig(ec_ioctl_config_t *, unsigned int); - void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t, - uint16_t); - void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int, - uint8_t, uint16_t, uint8_t); - void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int); - void getDomain(ec_ioctl_domain_t *, unsigned int); - void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int); - void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int, - unsigned char *); - void getSlave(ec_ioctl_slave_t *, uint16_t); - void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t); - void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t); - void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t, - uint8_t, uint8_t); - void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t); - void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t); - void requestState(uint16_t, uint8_t); - - static string slaveState(uint8_t); - static void printRawData(const uint8_t *, unsigned int); - static uint8_t calcSiiCrc(const uint8_t *, unsigned int); - - private: - enum {DefaultBufferSize = 1024}; - - unsigned int index; - Verbosity verbosity; - int fd; -}; - -/****************************************************************************/ - -#endif diff -r 52a005ffd011 -r ee305a780a02 tool/MasterDevice.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/MasterDevice.cpp Mon Jul 21 22:20:23 2008 +0000 @@ -0,0 +1,2021 @@ +/***************************************************************************** + * + * $Id$ + * + ****************************************************************************/ + +#include +#include +#include +#include + +#include +using namespace std; + +#if 0 +#include +#include +#include // toupper() +#include +#endif + +#include "MasterDevice.h" + +/****************************************************************************/ + +struct CoEDataType { + const char *name; + uint16_t coeCode; + unsigned int byteSize; +}; + +static const CoEDataType dataTypes[] = { + {"int8", 0x0002, 1}, + {"int16", 0x0003, 2}, + {"int32", 0x0004, 4}, + {"uint8", 0x0005, 1}, + {"uint16", 0x0006, 2}, + {"uint32", 0x0007, 4}, + {"string", 0x0009, 0}, + {"raw", 0xffff, 0}, + {} +}; + +/****************************************************************************/ + +const CoEDataType *findDataType(const string &str) +{ + const CoEDataType *d; + + for (d = dataTypes; d->name; d++) + if (str == d->name) + return d; + + return NULL; +} + +/****************************************************************************/ + +const CoEDataType *findDataType(uint16_t code) +{ + const CoEDataType *d; + + for (d = dataTypes; d->name; d++) + if (code == d->coeCode) + return d; + + return NULL; +} + +/****************************************************************************/ + +MasterDevice::MasterDevice() +{ + index = 0; + fd = -1; +} + +/****************************************************************************/ + +MasterDevice::~MasterDevice() +{ + close(); +} + +/****************************************************************************/ + +void MasterDevice::setIndex(unsigned int i) +{ + index = i; +} + +#if 0 +/*****************************************************************************/ + +bool operator<(const ec_ioctl_config_t &a, const ec_ioctl_config_t &b) +{ + return a.alias < b.alias + || (a.alias == b.alias && a.position < b.position); +} + +/** Lists the bus configuration. + */ +void Master::showConfigs() +{ + ec_ioctl_master_t master; + unsigned int i; + ec_ioctl_config_t config; + ConfigList configList; + + open(Read); + getMaster(&master); + + for (i = 0; i < master.config_count; i++) { + getConfig(&config, i); + configList.push_back(config); + } + + configList.sort(); + + if (verbosity == Verbose) { + showDetailedConfigs(configList); + } else { + listConfigs(configList); + } +} + +/****************************************************************************/ + +void Master::outputData(int domainIndex) +{ + open(Read); + + if (domainIndex == -1) { + unsigned int i; + ec_ioctl_master_t master; + + getMaster(&master); + + for (i = 0; i < master.domain_count; i++) { + outputDomainData(i); + } + } else { + outputDomainData(domainIndex); + } +} + +/****************************************************************************/ + +void Master::setDebug(const vector &commandArgs) +{ + stringstream str; + int debugLevel; + + if (commandArgs.size() != 1) { + stringstream err; + err << "'debug' takes exactly one argument!"; + throw MasterDeviceException(err.str()); + } + + str << commandArgs[0]; + str >> resetiosflags(ios::basefield) // guess base from prefix + >> debugLevel; + + if (str.fail()) { + stringstream err; + err << "Invalid debug level '" << commandArgs[0] << "'!"; + throw MasterDeviceException(err.str()); + } + + open(ReadWrite); + + if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) { + stringstream err; + err << "Failed to set debug level: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void Master::showDomains(int domainIndex) +{ + open(Read); + + if (domainIndex == -1) { + unsigned int i; + ec_ioctl_master_t master; + + getMaster(&master); + + for (i = 0; i < master.domain_count; i++) { + showDomain(i); + } + } else { + showDomain(domainIndex); + } +} + +/****************************************************************************/ + +void Master::showMaster() +{ + ec_ioctl_master_t data; + stringstream err; + unsigned int i; + + open(Read); + getMaster(&data); + + cout + << "Master" << index << endl + << " Phase: "; + + switch (data.phase) { + case 0: cout << "Waiting for device..."; break; + case 1: cout << "Idle"; break; + case 2: cout << "Operation"; break; + default: + err << "Invalid master phase " << data.phase; + throw MasterDeviceException(err.str()); + } + + cout << endl + << " Slaves: " << data.slave_count << endl; + + for (i = 0; i < 2; i++) { + cout << " Device" << i << ": "; + if (data.devices[i].address[0] == 0x00 + && data.devices[i].address[1] == 0x00 + && data.devices[i].address[2] == 0x00 + && data.devices[i].address[3] == 0x00 + && data.devices[i].address[4] == 0x00 + && data.devices[i].address[5] == 0x00) { + cout << "None."; + } else { + cout << hex << setfill('0') + << setw(2) << (unsigned int) data.devices[i].address[0] << ":" + << setw(2) << (unsigned int) data.devices[i].address[1] << ":" + << setw(2) << (unsigned int) data.devices[i].address[2] << ":" + << setw(2) << (unsigned int) data.devices[i].address[3] << ":" + << setw(2) << (unsigned int) data.devices[i].address[4] << ":" + << setw(2) << (unsigned int) data.devices[i].address[5] << " (" + << (data.devices[i].attached ? "attached" : "waiting...") + << ")" << endl << dec + << " Tx count: " << data.devices[i].tx_count << endl + << " Rx count: " << data.devices[i].rx_count; + } + cout << endl; + } +} + +/****************************************************************************/ + +void Master::listPdos(int slavePosition) +{ + open(Read); + + if (slavePosition == -1) { + unsigned int numSlaves = slaveCount(), i; + + for (i = 0; i < numSlaves; i++) { + listSlavePdos(i, true); + } + } else { + listSlavePdos(slavePosition, false); + } +} + +/****************************************************************************/ + +void Master::listSdos(int slavePosition) +{ + open(Read); + + if (slavePosition == -1) { + unsigned int numSlaves = slaveCount(), i; + + for (i = 0; i < numSlaves; i++) { + listSlaveSdos(i, true); + } + } else { + listSlaveSdos(slavePosition, false); + } +} + +/****************************************************************************/ + +void Master::sdoDownload( + int slavePosition, + const string &dataTypeStr, + const vector &commandArgs + ) +{ + stringstream strIndex, strSubIndex, strValue, err; + ec_ioctl_slave_sdo_download_t data; + unsigned int number; + const CoEDataType *dataType = NULL; + + if (slavePosition < 0) { + err << "'sdo_download' requires a slave! Please specify --slave."; + throw MasterDeviceException(err.str()); + } + data.slave_position = slavePosition; + + if (commandArgs.size() != 3) { + err << "'sdo_download' takes 3 arguments!"; + throw MasterDeviceException(err.str()); + } + + strIndex << commandArgs[0]; + strIndex + >> resetiosflags(ios::basefield) // guess base from prefix + >> data.sdo_index; + if (strIndex.fail()) { + err << "Invalid Sdo index '" << commandArgs[0] << "'!"; + throw MasterDeviceException(err.str()); + } + + strSubIndex << commandArgs[1]; + strSubIndex + >> resetiosflags(ios::basefield) // guess base from prefix + >> number; + if (strSubIndex.fail() || number > 0xff) { + err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; + throw MasterDeviceException(err.str()); + } + data.sdo_entry_subindex = number; + + if (dataTypeStr != "") { // data type specified + if (!(dataType = findDataType(dataTypeStr))) { + err << "Invalid data type '" << dataTypeStr << "'!"; + throw MasterDeviceException(err.str()); + } + } else { // no data type specified: fetch from dictionary + ec_ioctl_slave_sdo_entry_t entry; + + open(ReadWrite); + + try { + getSdoEntry(&entry, slavePosition, + data.sdo_index, data.sdo_entry_subindex); + } catch (MasterDeviceException &e) { + err << "Failed to determine Sdo entry data type. " + << "Please specify --type."; + throw MasterDeviceException(err.str()); + } + if (!(dataType = findDataType(entry.data_type))) { + err << "Pdo entry has unknown data type 0x" + << hex << setfill('0') << setw(4) << entry.data_type << "!" + << " Please specify --type."; + throw MasterDeviceException(err.str()); + } + } + + if (dataType->byteSize) { + data.data_size = dataType->byteSize; + } else { + data.data_size = DefaultBufferSize; + } + + data.data = new uint8_t[data.data_size + 1]; + + strValue << commandArgs[2]; + strValue >> resetiosflags(ios::basefield); // guess base from prefix + strValue.exceptions(ios::failbit); + + try { + switch (dataType->coeCode) { + case 0x0002: // int8 + { + int16_t val; // uint8_t is interpreted as char + strValue >> val; + if (val > 127 || val < -128) + throw ios::failure("Value out of range"); + *data.data = val; + break; + } + case 0x0003: // int16 + { + int16_t val; + strValue >> val; + *(int16_t *) data.data = cputole16(val); + break; + } + case 0x0004: // int32 + { + int32_t val; + strValue >> val; + *(int32_t *) data.data = cputole32(val); + break; + } + case 0x0005: // uint8 + { + uint16_t val; // uint8_t is interpreted as char + strValue >> val; + if (val > 0xff) + throw ios::failure("Value out of range"); + *data.data = val; + break; + } + case 0x0006: // uint16 + { + uint16_t val; + strValue >> val; + *(uint16_t *) data.data = cputole16(val); + break; + } + case 0x0007: // uint32 + { + uint32_t val; + strValue >> val; + *(uint32_t *) data.data = cputole32(val); + break; + } + case 0x0009: // string + if (strValue.str().size() >= data.data_size) { + err << "String too large"; + throw MasterDeviceException(err.str()); + } + data.data_size = strValue.str().size(); + strValue >> (char *) data.data; + break; + + default: + delete [] data.data; + err << "Unknown data type 0x" << hex << dataType->coeCode; + throw MasterDeviceException(err.str()); + } + } catch (ios::failure &e) { + delete [] data.data; + err << "Invalid value argument '" << commandArgs[2] + << "' for type '" << dataType->name << "'!"; + throw MasterDeviceException(err.str()); + } + + open(ReadWrite); + + if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &data) < 0) { + stringstream err; + err << "Failed to download Sdo: "; + if (errno == EIO && data.abort_code) { + err << "Abort code 0x" << hex << setfill('0') + << setw(8) << data.abort_code; + } else { + err << strerror(errno); + } + delete [] data.data; + throw MasterDeviceException(err.str()); + } + + delete [] data.data; +} + +/****************************************************************************/ + +void Master::sdoUpload( + int slavePosition, + const string &dataTypeStr, + const vector &commandArgs + ) +{ + stringstream strIndex, strSubIndex; + int sval; + ec_ioctl_slave_sdo_upload_t data; + unsigned int uval; + const CoEDataType *dataType = NULL; + + if (slavePosition < 0) { + stringstream err; + err << "'sdo_upload' requires a slave! Please specify --slave."; + throw MasterDeviceException(err.str()); + } + data.slave_position = slavePosition; + + if (commandArgs.size() != 2) { + stringstream err; + err << "'sdo_upload' takes two arguments!"; + throw MasterDeviceException(err.str()); + } + + strIndex << commandArgs[0]; + strIndex + >> resetiosflags(ios::basefield) // guess base from prefix + >> data.sdo_index; + if (strIndex.fail()) { + stringstream err; + err << "Invalid Sdo index '" << commandArgs[0] << "'!"; + throw MasterDeviceException(err.str()); + } + + strSubIndex << commandArgs[1]; + strSubIndex + >> resetiosflags(ios::basefield) // guess base from prefix + >> uval; + if (strSubIndex.fail() || uval > 0xff) { + stringstream err; + err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; + throw MasterDeviceException(err.str()); + } + data.sdo_entry_subindex = uval; + + if (dataTypeStr != "") { // data type specified + if (!(dataType = findDataType(dataTypeStr))) { + stringstream err; + err << "Invalid data type '" << dataTypeStr << "'!"; + throw MasterDeviceException(err.str()); + } + } else { // no data type specified: fetch from dictionary + ec_ioctl_slave_sdo_entry_t entry; + + open(Read); + + try { + getSdoEntry(&entry, slavePosition, + data.sdo_index, data.sdo_entry_subindex); + } catch (MasterDeviceException &e) { + stringstream err; + err << "Failed to determine Sdo entry data type. " + << "Please specify --type."; + throw MasterDeviceException(err.str()); + } + if (!(dataType = findDataType(entry.data_type))) { + stringstream err; + err << "Pdo entry has unknown data type 0x" + << hex << setfill('0') << setw(4) << entry.data_type << "!" + << " Please specify --type."; + throw MasterDeviceException(err.str()); + } + } + + if (dataType->byteSize) { + data.target_size = dataType->byteSize; + } else { + data.target_size = DefaultBufferSize; + } + + data.target = new uint8_t[data.target_size + 1]; + + open(Read); + + if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &data) < 0) { + stringstream err; + err << "Failed to upload Sdo: "; + if (errno == EIO && data.abort_code) { + err << "Abort code 0x" << hex << setfill('0') + << setw(8) << data.abort_code; + } else { + err << strerror(errno); + } + delete [] data.target; + close(); + throw MasterDeviceException(err.str()); + } + + close(); + + if (dataType->byteSize && data.data_size != dataType->byteSize) { + stringstream err; + err << "Data type mismatch. Expected " << dataType->name + << " with " << dataType->byteSize << " byte, but got " + << data.data_size << " byte."; + throw MasterDeviceException(err.str()); + } + + cout << setfill('0'); + switch (dataType->coeCode) { + case 0x0002: // int8 + sval = *(int8_t *) data.target; + cout << sval << " 0x" << hex << setw(2) << sval << endl; + break; + case 0x0003: // int16 + sval = le16tocpu(*(int16_t *) data.target); + cout << sval << " 0x" << hex << setw(4) << sval << endl; + break; + case 0x0004: // int32 + sval = le32tocpu(*(int32_t *) data.target); + cout << sval << " 0x" << hex << setw(8) << sval << endl; + break; + case 0x0005: // uint8 + uval = (unsigned int) *(uint8_t *) data.target; + cout << uval << " 0x" << hex << setw(2) << uval << endl; + break; + case 0x0006: // uint16 + uval = le16tocpu(*(uint16_t *) data.target); + cout << uval << " 0x" << hex << setw(4) << uval << endl; + break; + case 0x0007: // uint32 + uval = le32tocpu(*(uint32_t *) data.target); + cout << uval << " 0x" << hex << setw(8) << uval << endl; + break; + case 0x0009: // string + cout << string((const char *) data.target, data.data_size) + << endl; + break; + default: + printRawData(data.target, data.data_size); + break; + } + + delete [] data.target; +} + +/****************************************************************************/ + +void Master::showSlaves(int slavePosition) +{ + open(Read); + + if (verbosity == Verbose) { + if (slavePosition == -1) { + unsigned int numSlaves = slaveCount(), i; + + for (i = 0; i < numSlaves; i++) { + showSlave(i); + } + } else { + showSlave(slavePosition); + } + } else { + listSlaves(slavePosition); + } +} + +/****************************************************************************/ + +struct CategoryName { + uint16_t type; + const char *name; +}; + +static const CategoryName categoryNames[] = { + {0x000a, "STRINGS"}, + {0x0014, "DataTypes"}, + {0x001e, "General"}, + {0x0028, "FMMU"}, + {0x0029, "SyncM"}, + {0x0032, "TXPDO"}, + {0x0033, "RXPDO"}, + {0x003c, "DC"}, + {} +}; + +const char *getCategoryName(uint16_t type) +{ + const CategoryName *cn = categoryNames; + + while (cn->type) { + if (cn->type == type) { + return cn->name; + } + cn++; + } + + return "unknown"; +} + +void Master::siiRead(int slavePosition) +{ + ec_ioctl_slave_sii_t data; + ec_ioctl_slave_t slave; + unsigned int i; + const uint16_t *categoryHeader; + uint16_t categoryType, categorySize; + stringstream err; + + if (slavePosition < 0) { + stringstream err; + err << "'sii_read' requires a slave! Please specify --slave."; + throw MasterDeviceException(err.str()); + } + data.slave_position = slavePosition; + + open(Read); + + getSlave(&slave, slavePosition); + + if (!slave.sii_nwords) + return; + + data.offset = 0; + data.nwords = slave.sii_nwords; + data.words = new uint16_t[data.nwords]; + + if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) { + stringstream err; + delete [] data.words; + err << "Failed to read SII: " << strerror(errno); + throw MasterDeviceException(err.str()); + } + + if (verbosity == Verbose) { + cout << "SII Area:" << hex << setfill('0'); + for (i = 0; i < min(data.nwords, 0x0040U) * 2; i++) { + if (i % BreakAfterBytes) { + cout << " "; + } else { + cout << endl << " "; + } + cout << setw(2) << (unsigned int) *((uint8_t *) data.words + i); + } + cout << endl; + + if (data.nwords > 0x0040U) { + // cycle through categories + categoryHeader = data.words + 0x0040U; + categoryType = le16tocpu(*categoryHeader); + while (categoryType != 0xffff) { + cout << "SII Category 0x" << hex + << setw(4) << categoryType + << " (" << getCategoryName(categoryType) << ")" << flush; + + if (categoryHeader + 1 > data.words + data.nwords) { + err << "SII data seem to be corrupted!"; + throw MasterDeviceException(err.str()); + } + categorySize = le16tocpu(*(categoryHeader + 1)); + cout << ", " << dec << categorySize << " words" << flush; + + if (categoryHeader + 2 + categorySize + > data.words + data.nwords) { + err << "SII data seem to be corrupted!"; + throw MasterDeviceException(err.str()); + } + + cout << hex; + for (i = 0; i < categorySize * 2U; i++) { + if (i % BreakAfterBytes) { + cout << " "; + } else { + cout << endl << " "; + } + cout << setw(2) << (unsigned int) + *((uint8_t *) (categoryHeader + 2) + i); + } + cout << endl; + + if (categoryHeader + 2 + categorySize + 1 + > data.words + data.nwords) { + err << "SII data seem to be corrupted!"; + throw MasterDeviceException(err.str()); + } + categoryHeader += 2 + categorySize; + categoryType = le16tocpu(*categoryHeader); + } + } + } else { + for (i = 0; i < data.nwords; i++) { + uint16_t *w = data.words + i; + cout << *(uint8_t *) w << *((uint8_t *) w + 1); + } + } + + delete [] data.words; +} + +/****************************************************************************/ + +void Master::siiWrite( + int slavePosition, + bool force, + const vector &commandArgs + ) +{ + stringstream err; + ec_ioctl_slave_sii_t data; + ifstream file; + unsigned int byte_size; + const uint16_t *categoryHeader; + uint16_t categoryType, categorySize; + uint8_t crc; + + if (slavePosition < 0) { + err << "'sii_write' requires a slave! Please specify --slave."; + throw MasterDeviceException(err.str()); + } + data.slave_position = slavePosition; + + if (commandArgs.size() != 1) { + err << "'ssi_write' takes exactly one argument!"; + throw MasterDeviceException(err.str()); + } + + file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary); + if (file.fail()) { + err << "Failed to open '" << commandArgs[0] << "'!"; + throw MasterDeviceException(err.str()); + } + + // get length of file + file.seekg(0, ios::end); + byte_size = file.tellg(); + file.seekg(0, ios::beg); + + if (!byte_size || byte_size % 2) { + stringstream err; + err << "Invalid file size! Must be non-zero and even."; + throw MasterDeviceException(err.str()); + } + + data.nwords = byte_size / 2; + if (data.nwords < 0x0041 && !force) { + err << "SII data too short (" << data.nwords << " words)! Mimimum is" + " 40 fixed words + 1 delimiter. Use --force to write anyway."; + throw MasterDeviceException(err.str()); + } + + // allocate buffer and read file into buffer + data.words = new uint16_t[data.nwords]; + file.read((char *) data.words, byte_size); + file.close(); + + if (!force) { + // calculate checksum over words 0 to 6 + crc = calcSiiCrc((const uint8_t *) data.words, 14); + if (crc != ((const uint8_t *) data.words)[14]) { + err << "CRC incorrect. Must be 0x" + << hex << setfill('0') << setw(2) << (unsigned int) crc + << ". Use --force to write anyway."; + throw MasterDeviceException(err.str()); + } + + // cycle through categories to detect corruption + categoryHeader = data.words + 0x0040U; + categoryType = le16tocpu(*categoryHeader); + while (categoryType != 0xffff) { + if (categoryHeader + 1 > data.words + data.nwords) { + err << "SII data seem to be corrupted! " + << "Use --force to write anyway."; + throw MasterDeviceException(err.str()); + } + categorySize = le16tocpu(*(categoryHeader + 1)); + if (categoryHeader + 2 + categorySize + 1 + > data.words + data.nwords) { + err << "SII data seem to be corrupted! " + "Use --force to write anyway."; + throw MasterDeviceException(err.str()); + } + categoryHeader += 2 + categorySize; + categoryType = le16tocpu(*categoryHeader); + } + } + + // send data to master + open(ReadWrite); + data.offset = 0; + if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) { + stringstream err; + err << "Failed to write SII: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void Master::requestStates( + int slavePosition, + const vector &commandArgs + ) +{ + string stateStr; + uint8_t state; + + if (commandArgs.size() != 1) { + stringstream err; + err << "'state' takes exactly one argument!"; + throw MasterDeviceException(err.str()); + } + + stateStr = commandArgs[0]; + transform(stateStr.begin(), stateStr.end(), + stateStr.begin(), (int (*) (int)) std::toupper); + + if (stateStr == "INIT") { + state = 0x01; + } else if (stateStr == "PREOP") { + state = 0x02; + } else if (stateStr == "SAFEOP") { + state = 0x04; + } else if (stateStr == "OP") { + state = 0x08; + } else { + stringstream err; + err << "Invalid state '" << commandArgs[0] << "'!"; + throw MasterDeviceException(err.str()); + } + + open(ReadWrite); + + if (slavePosition == -1) { + unsigned int i, numSlaves = slaveCount(); + for (i = 0; i < numSlaves; i++) + requestState(i, state); + } else { + requestState(slavePosition, state); + } +} + +/****************************************************************************/ + +void Master::generateXml(int slavePosition) +{ + open(Read); + + if (slavePosition == -1) { + unsigned int numSlaves = slaveCount(), i; + + for (i = 0; i < numSlaves; i++) { + generateSlaveXml(i); + } + } else { + generateSlaveXml(slavePosition); + } +} + +#endif +/****************************************************************************/ + +void MasterDevice::open(Permissions perm) +{ + stringstream deviceName; + + if (fd != -1) { // already open + return; + } + + deviceName << "/dev/EtherCAT" << index; + + if ((fd = ::open(deviceName.str().c_str(), + perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) { + stringstream err; + err << "Failed to open master device " << deviceName.str() << ": " + << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::close() +{ + if (fd == -1) + return; + + ::close(fd); + fd = -1; +} + +#if 0 + +/*****************************************************************************/ + +/** Lists the complete bus configuration. + */ +void Master::showDetailedConfigs(const ConfigList &configList) +{ + ConfigList::const_iterator configIter; + unsigned int j, k, l; + ec_ioctl_config_pdo_t pdo; + ec_ioctl_config_pdo_entry_t entry; + ec_ioctl_config_sdo_t sdo; + + for (configIter = configList.begin(); + configIter != configList.end(); + configIter++) { + + cout << "Alias: " + << dec << configIter->alias << endl + << "Position: " << configIter->position << endl + << "Vendor Id: 0x" + << hex << setfill('0') + << setw(8) << configIter->vendor_id << endl + << "Product code: 0x" + << setw(8) << configIter->product_code << endl + << "Attached: " << (configIter->attached ? "yes" : "no") << endl + << "Operational: " << (configIter->operational ? "yes" : "no") << endl; + + for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { + if (configIter->syncs[j].pdo_count) { + cout << "SM" << dec << j << " (" + << (configIter->syncs[j].dir == EC_DIR_INPUT + ? "Input" : "Output") << ")" << endl; + for (k = 0; k < configIter->syncs[j].pdo_count; k++) { + getConfigPdo(&pdo, configIter->config_index, j, k); + + cout << " Pdo 0x" << hex + << setw(4) << pdo.index + << " \"" << pdo.name << "\"" << endl; + + for (l = 0; l < pdo.entry_count; l++) { + getConfigPdoEntry(&entry, configIter->config_index, j, k, l); + + cout << " Pdo entry 0x" << hex + << setw(4) << entry.index << ":" + << setw(2) << (unsigned int) entry.subindex + << ", " << dec << (unsigned int) entry.bit_length + << " bit, \"" << entry.name << "\"" << endl; + } + } + } + } + + cout << "Sdo configuration:" << endl; + if (configIter->sdo_count) { + for (j = 0; j < configIter->sdo_count; j++) { + getConfigSdo(&sdo, configIter->config_index, j); + + cout << " 0x" + << hex << setfill('0') + << setw(4) << sdo.index << ":" + << setw(2) << (unsigned int) sdo.subindex + << ", " << dec << sdo.size << " byte: " << hex; + + switch (sdo.size) { + case 1: + cout << "0x" << setw(2) + << (unsigned int) *(uint8_t *) &sdo.data; + break; + case 2: + cout << "0x" << setw(4) + << le16tocpu(*(uint16_t *) &sdo.data); + break; + case 4: + cout << "0x" << setw(8) + << le32tocpu(*(uint32_t *) &sdo.data); + break; + default: + cout << "???"; + } + + cout << endl; + } + } else { + cout << " None." << endl; + } + + cout << endl; + } +} + +/*****************************************************************************/ + +struct ConfigInfo { + string alias; + string pos; + string ident; + string att; + string op; +}; + +/** Lists the bus configuration. + */ +void Master::listConfigs(const ConfigList &configList) +{ + ConfigList::const_iterator configIter; + stringstream str; + ConfigInfo info; + typedef list ConfigInfoList; + ConfigInfoList list; + ConfigInfoList::const_iterator iter; + unsigned int maxAliasWidth = 0, maxPosWidth = 0, + maxAttWidth = 0, maxOpWidth = 0; + + for (configIter = configList.begin(); + configIter != configList.end(); + configIter++) { + + str << dec << configIter->alias; + info.alias = str.str(); + str.clear(); + str.str(""); + + str << configIter->position; + info.pos = str.str(); + str.clear(); + str.str(""); + + str << hex << setfill('0') + << "0x" << setw(8) << configIter->vendor_id + << "/0x" << setw(8) << configIter->product_code; + info.ident = str.str(); + str.clear(); + str.str(""); + + str << (configIter->attached ? "attached" : "-"); + info.att = str.str(); + str.clear(); + str.str(""); + + str << (configIter->operational ? "operational" : "-"); + info.op = str.str(); + str.clear(); + str.str(""); + + list.push_back(info); + + if (info.alias.length() > maxAliasWidth) + maxAliasWidth = info.alias.length(); + if (info.pos.length() > maxPosWidth) + maxPosWidth = info.pos.length(); + if (info.att.length() > maxAttWidth) + maxAttWidth = info.att.length(); + if (info.op.length() > maxOpWidth) + maxOpWidth = info.op.length(); + } + + for (iter = list.begin(); iter != list.end(); iter++) { + cout << setfill(' ') << right + << setw(maxAliasWidth) << iter->alias + << ":" << left + << setw(maxPosWidth) << iter->pos + << " " + << iter->ident + << " " + << setw(maxAttWidth) << iter->att << " " + << setw(maxOpWidth) << iter->op << " " + << endl; + } +} + +/****************************************************************************/ + +void Master::outputDomainData(unsigned int domainIndex) +{ + ec_ioctl_domain_t domain; + ec_ioctl_domain_data_t data; + unsigned char *processData; + unsigned int i; + + getDomain(&domain, domainIndex); + + if (!domain.data_size) + return; + + processData = new unsigned char[domain.data_size]; + + try { + getData(&data, domainIndex, domain.data_size, processData); + } catch (MasterDeviceException &e) { + delete [] processData; + throw e; + } + + for (i = 0; i < data.data_size; i++) + cout << processData[i]; + cout.flush(); + + delete [] processData; +} + +/****************************************************************************/ + +void Master::showDomain(unsigned int domainIndex) +{ + ec_ioctl_domain_t domain; + unsigned char *processData; + ec_ioctl_domain_data_t data; + unsigned int i, j; + ec_ioctl_domain_fmmu_t fmmu; + unsigned int dataOffset; + + getDomain(&domain, domainIndex); + + cout << "Domain" << dec << domainIndex << ":" + << " LogBaseAddr 0x" + << hex << setfill('0') + << setw(8) << domain.logical_base_address + << ", Size " << dec << setfill(' ') + << setw(3) << domain.data_size + << ", WorkingCounter " + << domain.working_counter << "/" + << domain.expected_working_counter << endl; + + if (!domain.data_size || verbosity != Verbose) + return; + + processData = new unsigned char[domain.data_size]; + + try { + getData(&data, domainIndex, domain.data_size, processData); + } catch (MasterDeviceException &e) { + delete [] processData; + throw e; + } + + for (i = 0; i < domain.fmmu_count; i++) { + getFmmu(&fmmu, domainIndex, i); + + cout << " SlaveConfig " + << dec << fmmu.slave_config_alias + << ":" << fmmu.slave_config_position + << ", SM" << (unsigned int) fmmu.sync_index << " (" + << setfill(' ') << setw(6) + << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output") + << "), LogAddr 0x" + << hex << setfill('0') + << setw(8) << fmmu.logical_address + << ", Size " << dec << fmmu.data_size << endl; + + dataOffset = fmmu.logical_address - domain.logical_base_address; + if (dataOffset + fmmu.data_size > domain.data_size) { + stringstream err; + err << "Fmmu information corrupted!"; + delete [] processData; + throw MasterDeviceException(err.str()); + } + + cout << " " << hex << setfill('0'); + for (j = 0; j < fmmu.data_size; j++) { + if (j && !(j % BreakAfterBytes)) + cout << endl << " "; + cout << setw(2) + << (unsigned int) *(processData + dataOffset + j) << " "; + } + cout << endl; + } + + delete [] processData; +} + +/****************************************************************************/ + +void Master::listSlavePdos( + uint16_t slavePosition, + bool withHeader + ) +{ + ec_ioctl_slave_t slave; + ec_ioctl_slave_sync_t sync; + ec_ioctl_slave_sync_pdo_t pdo; + ec_ioctl_slave_sync_pdo_entry_t entry; + unsigned int i, j, k; + + getSlave(&slave, slavePosition); + + if (withHeader) + cout << "=== Slave " << slavePosition << " ===" << endl; + + for (i = 0; i < slave.sync_count; i++) { + getSync(&sync, slavePosition, i); + + cout << "SM" << i << ":" + << " PhysAddr 0x" + << hex << setfill('0') + << setw(4) << sync.physical_start_address + << ", DefaultSize " + << dec << setfill(' ') << setw(4) << sync.default_size + << ", ControlRegister 0x" + << hex << setfill('0') << setw(2) + << (unsigned int) sync.control_register + << ", Enable " << dec << (unsigned int) sync.enable + << endl; + + for (j = 0; j < sync.pdo_count; j++) { + getPdo(&pdo, slavePosition, i, j); + + cout << " " << (sync.control_register & 0x04 ? "R" : "T") + << "xPdo 0x" + << hex << setfill('0') + << setw(4) << pdo.index + << " \"" << pdo.name << "\"" << endl; + + if (verbosity == Quiet) + continue; + + for (k = 0; k < pdo.entry_count; k++) { + getPdoEntry(&entry, slavePosition, i, j, k); + + cout << " Pdo entry 0x" + << hex << setfill('0') + << setw(4) << entry.index + << ":" << setw(2) << (unsigned int) entry.subindex + << ", " << dec << (unsigned int) entry.bit_length + << " bit, \"" << entry.name << "\"" << endl; + } + } + } +} + +/****************************************************************************/ + +void Master::listSlaveSdos( + uint16_t slavePosition, + bool withHeader + ) +{ + ec_ioctl_slave_t slave; + ec_ioctl_slave_sdo_t sdo; + ec_ioctl_slave_sdo_entry_t entry; + unsigned int i, j; + const CoEDataType *d; + + getSlave(&slave, slavePosition); + + if (withHeader) + cout << "=== Slave " << slavePosition << " ===" << endl; + + for (i = 0; i < slave.sdo_count; i++) { + getSdo(&sdo, slavePosition, i); + + cout << "Sdo 0x" + << hex << setfill('0') + << setw(4) << sdo.sdo_index + << ", \"" << sdo.name << "\"" << endl; + + if (verbosity == Quiet) + continue; + + for (j = 0; j <= sdo.max_subindex; j++) { + getSdoEntry(&entry, slavePosition, -i, j); + + cout << " 0x" << hex << setfill('0') + << setw(4) << sdo.sdo_index << ":" + << setw(2) << (unsigned int) entry.sdo_entry_subindex + << ", "; + + if ((d = findDataType(entry.data_type))) { + cout << d->name; + } else { + cout << "type " << setw(4) << entry.data_type; + } + + cout << ", " << dec << entry.bit_length << " bit, \"" + << entry.description << "\"" << endl; + } + } +} + +/****************************************************************************/ + +struct SlaveInfo { + string pos; + string alias; + string relPos; + string state; + string flag; + string name; +}; + +void Master::listSlaves(int slavePosition) +{ + unsigned int numSlaves, i; + ec_ioctl_slave_t slave; + uint16_t lastAlias, aliasIndex; + SlaveInfo slaveInfo; + typedef list SlaveInfoList; + SlaveInfoList slaveInfoList; + SlaveInfoList::const_iterator iter; + stringstream str; + unsigned int maxPosWidth = 0, maxAliasWidth = 0, + maxRelPosWidth = 0, maxStateWidth = 0; + + open(Read); + + numSlaves = slaveCount(); + + lastAlias = 0; + aliasIndex = 0; + for (i = 0; i < numSlaves; i++) { + getSlave(&slave, i); + + if (slave.alias) { + lastAlias = slave.alias; + aliasIndex = 0; + } + + if (slavePosition == -1 || i == (unsigned int) slavePosition) { + str << dec << i; + slaveInfo.pos = str.str(); + str.clear(); + str.str(""); + + str << lastAlias; + slaveInfo.alias = str.str(); + str.str(""); + + str << aliasIndex; + slaveInfo.relPos = str.str(); + str.str(""); + + slaveInfo.state = slaveState(slave.state); + slaveInfo.flag = (slave.error_flag ? 'E' : '+'); + + if (strlen(slave.name)) { + slaveInfo.name = slave.name; + } else { + str << "0x" << hex << setfill('0') + << setw(8) << slave.vendor_id << ":0x" + << setw(8) << slave.product_code; + slaveInfo.name = str.str(); + str.str(""); + } + + + slaveInfoList.push_back(slaveInfo); + + if (slaveInfo.pos.length() > maxPosWidth) + maxPosWidth = slaveInfo.pos.length(); + if (slaveInfo.alias.length() > maxAliasWidth) + maxAliasWidth = slaveInfo.alias.length(); + if (slaveInfo.relPos.length() > maxRelPosWidth) + maxRelPosWidth = slaveInfo.relPos.length(); + if (slaveInfo.state.length() > maxStateWidth) + maxStateWidth = slaveInfo.state.length(); + } + + aliasIndex++; + } + + for (iter = slaveInfoList.begin(); iter != slaveInfoList.end(); iter++) { + cout << setfill(' ') << right + << setw(maxPosWidth) << iter->pos << " " + << setw(maxAliasWidth) << iter->alias + << ":" << left + << setw(maxRelPosWidth) << iter->relPos << " " + << setw(maxStateWidth) << iter->state << " " + << iter->flag << " " + << iter->name << endl; + } +} + +/****************************************************************************/ + +void Master::showSlave(uint16_t slavePosition) +{ + ec_ioctl_slave_t slave; + list protoList; + list::const_iterator protoIter; + + getSlave(&slave, slavePosition); + + cout << "=== Slave " << dec << slavePosition << " ===" << endl; + + if (slave.alias) + cout << "Alias: " << slave.alias << endl; + + cout + << "State: " << slaveState(slave.state) << endl + << "Flag: " << (slave.error_flag ? 'E' : '+') << endl + << "Identity:" << endl + << " Vendor Id: 0x" + << hex << setfill('0') + << setw(8) << slave.vendor_id << endl + << " Product code: 0x" + << setw(8) << slave.product_code << endl + << " Revision number: 0x" + << setw(8) << slave.revision_number << endl + << " Serial number: 0x" + << setw(8) << slave.serial_number << endl; + + if (slave.mailbox_protocols) { + cout << "Mailboxes:" << endl + << " RX: 0x" + << hex << setw(4) << slave.rx_mailbox_offset << "/" + << dec << slave.rx_mailbox_size + << ", TX: 0x" + << hex << setw(4) << slave.tx_mailbox_offset << "/" + << dec << slave.tx_mailbox_size << endl + << " Supported protocols: "; + + if (slave.mailbox_protocols & EC_MBOX_AOE) { + protoList.push_back("AoE"); + } + if (slave.mailbox_protocols & EC_MBOX_EOE) { + protoList.push_back("EoE"); + } + if (slave.mailbox_protocols & EC_MBOX_COE) { + protoList.push_back("CoE"); + } + if (slave.mailbox_protocols & EC_MBOX_FOE) { + protoList.push_back("FoE"); + } + if (slave.mailbox_protocols & EC_MBOX_SOE) { + protoList.push_back("SoE"); + } + if (slave.mailbox_protocols & EC_MBOX_VOE) { + protoList.push_back("VoE"); + } + + for (protoIter = protoList.begin(); protoIter != protoList.end(); + protoIter++) { + if (protoIter != protoList.begin()) + cout << ", "; + cout << *protoIter; + } + cout << endl; + } + + if (slave.has_general_category) { + cout << "General:" << endl + << " Group: " << slave.group << endl + << " Image name: " << slave.image << endl + << " Order number: " << slave.order << endl + << " Device name: " << slave.name << endl; + + if (slave.mailbox_protocols & EC_MBOX_COE) { + cout << " CoE details:" << endl + << " Enable Sdo: " + << (slave.coe_details.enable_sdo ? "yes" : "no") << endl + << " Enable Sdo Info: " + << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl + << " Enable Pdo Assign: " + << (slave.coe_details.enable_pdo_assign + ? "yes" : "no") << endl + << " Enable Pdo Configuration: " + << (slave.coe_details.enable_pdo_configuration + ? "yes" : "no") << endl + << " Enable Upload at startup: " + << (slave.coe_details.enable_upload_at_startup + ? "yes" : "no") << endl + << " Enable Sdo complete access: " + << (slave.coe_details.enable_sdo_complete_access + ? "yes" : "no") << endl; + } + + cout << " Flags:" << endl + << " Enable SafeOp: " + << (slave.general_flags.enable_safeop ? "yes" : "no") << endl + << " Enable notLRW: " + << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl + << " Current consumption: " + << dec << slave.current_on_ebus << " mA" << endl; + } +} + +/****************************************************************************/ + +void Master::generateSlaveXml(uint16_t slavePosition) +{ + ec_ioctl_slave_t slave; + ec_ioctl_slave_sync_t sync; + ec_ioctl_slave_sync_pdo_t pdo; + string pdoType; + ec_ioctl_slave_sync_pdo_entry_t entry; + unsigned int i, j, k; + + getSlave(&slave, slavePosition); + + cout + << "" << endl + << " " << endl + << " " << endl + << " " << endl + << " " << slave.vendor_id << "" << endl + << " " << endl + << " " << endl + << " " << endl + << " " << endl + << " " << slave.order << "" << endl; + + if (strlen(slave.name)) { + cout + << " " << endl; + } + + for (i = 0; i < slave.sync_count; i++) { + getSync(&sync, slavePosition, i); + + cout + << " " << endl; + } + + for (i = 0; i < slave.sync_count; i++) { + getSync(&sync, slavePosition, i); + + for (j = 0; j < sync.pdo_count; j++) { + getPdo(&pdo, slavePosition, i, j); + pdoType = (sync.control_register & 0x04 ? "R" : "T"); + pdoType += "xPdo"; + + cout + << " <" << pdoType + << " Sm=\"" << i << "\" Fixed=\"1\" Mandatory=\"1\">" << endl + << " #x" + << hex << setfill('0') << setw(4) << pdo.index + << "" << endl + << " " << pdo.name << "" << endl; + + for (k = 0; k < pdo.entry_count; k++) { + getPdoEntry(&entry, slavePosition, i, j, k); + + cout + << " " << endl + << " #x" + << hex << setfill('0') << setw(4) << entry.index + << "" << endl; + if (entry.index) + cout + << " " + << dec << (unsigned int) entry.subindex + << "" << endl; + + cout + << " " + << dec << (unsigned int) entry.bit_length + << "" << endl; + + if (entry.index) { + cout + << " " << entry.name + << "" << endl + << " "; + + if (entry.bit_length == 1) { + cout << "BOOL"; + } else if (!(entry.bit_length % 8)) { + if (entry.bit_length <= 64) + cout << "UINT" << (unsigned int) entry.bit_length; + else + cout << "STRING(" + << (unsigned int) (entry.bit_length / 8) + << ")"; + } else { + cerr << "Invalid bit length " + << (unsigned int) entry.bit_length << endl; + } + + cout << "" << endl; + } + + cout << " " << endl; + } + + cout + << " " << endl; + } + } + + cout + << " " << endl + << " " << endl + << " " << endl + << "" << endl; +} +#endif +/****************************************************************************/ + +unsigned int MasterDevice::slaveCount() +{ + ec_ioctl_master_t data; + + getMaster(&data); + return data.slave_count; +} + +/****************************************************************************/ + +void MasterDevice::getMaster(ec_ioctl_master_t *data) +{ + if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) { + stringstream err; + err << "Failed to get master information: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index) +{ + data->config_index = index; + + if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) { + stringstream err; + err << "Failed to get slave configuration: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getConfigPdo( + ec_ioctl_config_pdo_t *data, + unsigned int index, + uint8_t sync_index, + uint16_t pdo_pos + ) +{ + data->config_index = index; + data->sync_index = sync_index; + data->pdo_pos = pdo_pos; + + if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) { + stringstream err; + err << "Failed to get slave config Pdo: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getConfigPdoEntry( + ec_ioctl_config_pdo_entry_t *data, + unsigned int index, + uint8_t sync_index, + uint16_t pdo_pos, + uint8_t entry_pos + ) +{ + data->config_index = index; + data->sync_index = sync_index; + data->pdo_pos = pdo_pos; + data->entry_pos = entry_pos; + + if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) { + stringstream err; + err << "Failed to get slave config Pdo entry: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getConfigSdo( + ec_ioctl_config_sdo_t *data, + unsigned int index, + unsigned int sdo_pos + ) +{ + data->config_index = index; + data->sdo_pos = sdo_pos; + + if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) { + stringstream err; + err << "Failed to get slave config Sdo: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index) +{ + data->index = index; + + if (ioctl(fd, EC_IOCTL_DOMAIN, data)) { + stringstream err; + err << "Failed to get domain: "; + if (errno == EINVAL) + err << "Domain " << index << " does not exist!"; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex, + unsigned int dataSize, unsigned char *mem) +{ + data->domain_index = domainIndex; + data->data_size = dataSize; + data->target = mem; + + if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) { + stringstream err; + err << "Failed to get domain data: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex) +{ + slave->position = slaveIndex; + + if (ioctl(fd, EC_IOCTL_SLAVE, slave)) { + stringstream err; + err << "Failed to get slave: "; + if (errno == EINVAL) + err << "Slave " << slaveIndex << " does not exist!"; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getFmmu( + ec_ioctl_domain_fmmu_t *fmmu, + unsigned int domainIndex, + unsigned int fmmuIndex + ) +{ + fmmu->domain_index = domainIndex; + fmmu->fmmu_index = fmmuIndex; + + if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) { + stringstream err; + err << "Failed to get domain FMMU: "; + if (errno == EINVAL) + err << "Either domain " << domainIndex << " does not exist, " + << "or it contains less than " << (unsigned int) fmmuIndex + 1 + << " FMMus!"; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getSync( + ec_ioctl_slave_sync_t *sync, + uint16_t slaveIndex, + uint8_t syncIndex + ) +{ + sync->slave_position = slaveIndex; + sync->sync_index = syncIndex; + + if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) { + stringstream err; + err << "Failed to get sync manager: "; + if (errno == EINVAL) + err << "Either slave " << slaveIndex << " does not exist, " + << "or it contains less than " << (unsigned int) syncIndex + 1 + << " sync managers!"; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getPdo( + ec_ioctl_slave_sync_pdo_t *pdo, + uint16_t slaveIndex, + uint8_t syncIndex, + uint8_t pdoPos + ) +{ + pdo->slave_position = slaveIndex; + pdo->sync_index = syncIndex; + pdo->pdo_pos = pdoPos; + + if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) { + stringstream err; + err << "Failed to get Pdo: "; + if (errno == EINVAL) + err << "Either slave " << slaveIndex << " does not exist, " + << "or it contains less than " << (unsigned int) syncIndex + 1 + << " sync managers, or sync manager " + << (unsigned int) syncIndex << " contains less than " + << pdoPos + 1 << " Pdos!" << endl; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getPdoEntry( + ec_ioctl_slave_sync_pdo_entry_t *entry, + uint16_t slaveIndex, + uint8_t syncIndex, + uint8_t pdoPos, + uint8_t entryPos + ) +{ + entry->slave_position = slaveIndex; + entry->sync_index = syncIndex; + entry->pdo_pos = pdoPos; + entry->entry_pos = entryPos; + + if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) { + stringstream err; + err << "Failed to get Pdo entry: "; + if (errno == EINVAL) + err << "Either slave " << slaveIndex << " does not exist, " + << "or it contains less than " << (unsigned int) syncIndex + 1 + << " sync managers, or sync manager " + << (unsigned int) syncIndex << " contains less than " + << pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos + << " contains less than " << (unsigned int) entryPos + 1 + << " entries!" << endl; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getSdo( + ec_ioctl_slave_sdo_t *sdo, + uint16_t slaveIndex, + uint16_t sdoPosition + ) +{ + sdo->slave_position = slaveIndex; + sdo->sdo_position = sdoPosition; + + if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) { + stringstream err; + err << "Failed to get Sdo: "; + if (errno == EINVAL) + err << "Either slave " << slaveIndex << " does not exist, " + << "or it contains less than " << sdoPosition + 1 << " Sdos!" + << endl; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::getSdoEntry( + ec_ioctl_slave_sdo_entry_t *entry, + uint16_t slaveIndex, + int sdoSpec, + uint8_t entrySubindex + ) +{ + entry->slave_position = slaveIndex; + entry->sdo_spec = sdoSpec; + entry->sdo_entry_subindex = entrySubindex; + + if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) { + stringstream err; + err << "Failed to get Sdo entry: "; + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::readSii( + ec_ioctl_slave_sii_t *data + ) +{ + if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) { + stringstream err; + err << "Failed to read SII: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +void MasterDevice::writeSii( + ec_ioctl_slave_sii_t *data + ) +{ + if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) { + stringstream err; + err << "Failed to write SII: " << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +#if 0 +void MasterDevice::requestState( + uint16_t slavePosition, + uint8_t state + ) +{ + ec_ioctl_slave_state_t data; + + data.slave_position = slavePosition; + data.requested_state = state; + + if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) { + stringstream err; + err << "Failed to request slave state: "; + if (errno == EINVAL) + err << "Slave " << slavePosition << " does not exist!"; + else + err << strerror(errno); + throw MasterDeviceException(err.str()); + } +} + +/****************************************************************************/ + +string Master::slaveState(uint8_t state) +{ + switch (state) { + case 1: return "INIT"; + case 2: return "PREOP"; + case 4: return "SAFEOP"; + case 8: return "OP"; + default: return "???"; + } +} + +/****************************************************************************/ + +void Master::printRawData( + const uint8_t *data, + unsigned int size) +{ + cout << hex << setfill('0'); + while (size--) { + cout << "0x" << setw(2) << (unsigned int) *data++; + if (size) + cout << " "; + } + cout << endl; +} + +#endif +/*****************************************************************************/ diff -r 52a005ffd011 -r ee305a780a02 tool/MasterDevice.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/MasterDevice.h Mon Jul 21 22:20:23 2008 +0000 @@ -0,0 +1,94 @@ +/***************************************************************************** + * + * $Id$ + * + ****************************************************************************/ + +#ifndef __EC_MASTER_H__ +#define __EC_MASTER_H__ + +#include +#include +#include +#include +using namespace std; + +#include "../include/ecrt.h" +#include "../master/ioctl.h" + +/****************************************************************************/ + +class MasterDeviceException: + public runtime_error +{ + public: + /** Constructor with std::string parameter. */ + MasterDeviceException( + const string &s /**< Message. */ + ): runtime_error(s) {} +}; + +/****************************************************************************/ + +class MasterDevice +{ + public: + MasterDevice(); + ~MasterDevice(); + + void setIndex(unsigned int); + + enum Permissions {Read, ReadWrite}; + void open(Permissions); + void close(); + + unsigned int slaveCount(); + + void getMaster(ec_ioctl_master_t *); + void getConfig(ec_ioctl_config_t *, unsigned int); + void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t, + uint16_t); + void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int, + uint8_t, uint16_t, uint8_t); + void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int); + void getDomain(ec_ioctl_domain_t *, unsigned int); + void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int); + void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int, + unsigned char *); + void getSlave(ec_ioctl_slave_t *, uint16_t); + void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t); + void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t); + void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t, + uint8_t, uint8_t); + void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t); + void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t); + void readSii(ec_ioctl_slave_sii_t *); + void writeSii(ec_ioctl_slave_sii_t *); + + protected: +#if 0 + void outputDomainData(unsigned int); + enum {BreakAfterBytes = 16}; + void showDomain(unsigned int); + void listSlavePdos(uint16_t, bool = false); + void listSlaveSdos(uint16_t, bool = false); + void listSlaves(int); + void showSlave(uint16_t); + void generateSlaveXml(uint16_t); + void requestState(uint16_t, uint8_t); + + static string slaveState(uint8_t); + static void printRawData(const uint8_t *, unsigned int); + static uint8_t calcSiiCrc(const uint8_t *, unsigned int); +#endif + + private: + //enum {DefaultBufferSize = 1024}; + + unsigned int index; + int fd; +}; + +/****************************************************************************/ + +#endif diff -r 52a005ffd011 -r ee305a780a02 tool/cmd_alias.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/cmd_alias.cpp Mon Jul 21 22:20:23 2008 +0000 @@ -0,0 +1,181 @@ +/***************************************************************************** + * + * $Id$ + * + ****************************************************************************/ + +#include +#include +#include +using namespace std; + +#include "globals.h" + +/*****************************************************************************/ + +const char *help_alias = + "[OPTIONS] \n" + "\n" + "Write the secondary slave address (alias) for either\n" + "one or for multiple slaves.\n" + "\n" + "Arguments:\n" + " ALIAS must be a 16 bit unsigned integer, specified\n" + " either in decimal (no prefix), octal (prefix '0')\n" + " or hexadecimal (prefix '0x').\n" + "\n" + "Command-specific options:\n" + " -s Write the alias of the slave with the given\n" + " ring position. If this option is not\n" + " specified, the alias of all slaves is set.\n" + " The --force option is required in this\n" + " case.\n"; + +/*****************************************************************************/ + +void writeSlaveAlias(uint16_t, uint16_t); + +/*****************************************************************************/ + +/** Writes the Secondary slave address (alias) to the slave's SII. + */ +void command_alias(void) +{ + uint16_t alias; + stringstream err, strAlias; + int number; + unsigned int numSlaves, i; + + if (commandArgs.size() != 1) { + err << "'" << command << "' takes exactly one argument!"; + throw InvalidUsageException(err); + } + + strAlias << commandArgs[0]; + strAlias + >> resetiosflags(ios::basefield) // guess base from prefix + >> number; + if (strAlias.fail() || number < 0x0000 || number > 0xffff) { + err << "Invalid alias '" << commandArgs[0] << "'!"; + throw InvalidUsageException(err); + } + alias = number; + + if (slavePosition == -1) { + if (!force) { + err << "This will write the alias addresses of all slaves to " + << alias << "! Please specify --force to proceed."; + throw ExecutionFailureException(err); + } + + masterDev.open(MasterDevice::ReadWrite); + numSlaves = masterDev.slaveCount(); + + for (i = 0; i < numSlaves; i++) { + writeSlaveAlias(i, alias); + } + } else { + masterDev.open(MasterDevice::ReadWrite); + writeSlaveAlias(slavePosition, alias); + } +} + +/*****************************************************************************/ + +/** Calculates the SII checksum field. + * + * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an + * initial value of 0xff (see IEC 61158-6-12 ch. 5.4). + * + * The below code was originally generated with PYCRC + * http://www.tty1.net/pycrc + * + * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff + * --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit + * + * \return CRC8 + */ +uint8_t calcSiiCrc( + const uint8_t *data, /**< pointer to data */ + size_t length /**< number of bytes in \a data */ + ) +{ + unsigned int i; + uint8_t bit, byte, crc = 0x48; + + while (length--) { + byte = *data++; + for (i = 0; i < 8; i++) { + bit = crc & 0x80; + crc = (crc << 1) | ((byte >> (7 - i)) & 0x01); + if (bit) crc ^= 0x07; + } + } + + for (i = 0; i < 8; i++) { + bit = crc & 0x80; + crc <<= 1; + if (bit) crc ^= 0x07; + } + + return crc; +} + +/*****************************************************************************/ + +/** Writes the Secondary slave address (alias) to the slave's SII. + */ +void writeSlaveAlias( + uint16_t slavePosition, + uint16_t alias + ) +{ + ec_ioctl_slave_sii_t data; + ec_ioctl_slave_t slave; + stringstream err; + uint8_t crc; + + masterDev.getSlave(&slave, slavePosition); + + if (slave.sii_nwords < 8) { + err << "Current SII contents are too small to set an alias " + << "(" << slave.sii_nwords << " words)!"; + throw ExecutionFailureException(err); + } + + // read first 8 SII words + data.slave_position = slavePosition; + data.offset = 0; + data.nwords = 8; + data.words = new uint16_t[data.nwords]; + + try { + masterDev.readSii(&data); + } catch (MasterDeviceException &e) { + delete [] data.words; + err << "Failed to read SII: " << e.what(); + throw ExecutionFailureException(err); + } + + // write new alias address in word 4 + data.words[4] = cputole16(alias); + + // calculate checksum over words 0 to 6 + crc = calcSiiCrc((const uint8_t *) data.words, 14); + + // write new checksum into first byte of word 7 + *(uint8_t *) (data.words + 7) = crc; + + // write first 8 words with new alias and checksum + try { + masterDev.writeSii(&data); + } catch (MasterDeviceException &e) { + delete [] data.words; + err << "Failed to read SII: " << e.what(); + throw ExecutionFailureException(err); + } + + delete [] data.words; +} + +/*****************************************************************************/ diff -r 52a005ffd011 -r ee305a780a02 tool/cmd_config.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/cmd_config.cpp Mon Jul 21 22:20:23 2008 +0000 @@ -0,0 +1,237 @@ +/***************************************************************************** + * + * $Id$ + * + ****************************************************************************/ + +#include +#include +#include +#include +using namespace std; + +#include "globals.h" + +/*****************************************************************************/ + +const char *help_config = + "[OPTIONS]\n" + "\n" + "\n" + "Command-specific options:\n"; + +/*****************************************************************************/ + +struct ConfigInfo { + string alias; + string pos; + string ident; + string att; + string op; +}; + +typedef list ConfigList; + +void showDetailedConfigs(const ConfigList &configList); +void listConfigs(const ConfigList &configList); + +/*****************************************************************************/ + +bool operator<(const ec_ioctl_config_t &a, const ec_ioctl_config_t &b) +{ + return a.alias < b.alias + || (a.alias == b.alias && a.position < b.position); +} + +/*****************************************************************************/ + +/** Lists the bus configuration. + */ +void command_config(void) +{ + ec_ioctl_master_t master; + unsigned int i; + ec_ioctl_config_t config; + ConfigList configList; + + masterDev.open(MasterDevice::Read); + masterDev.getMaster(&master); + + for (i = 0; i < master.config_count; i++) { + masterDev.getConfig(&config, i); + configList.push_back(config); + } + + configList.sort(); + + if (verbosity == Verbose) { + showDetailedConfigs(configList); + } else { + listConfigs(configList); + } +} + +/*****************************************************************************/ + +/** Lists the complete bus configuration. + */ +void showDetailedConfigs(const ConfigList &configList) +{ + ConfigList::const_iterator configIter; + unsigned int j, k, l; + ec_ioctl_config_pdo_t pdo; + ec_ioctl_config_pdo_entry_t entry; + ec_ioctl_config_sdo_t sdo; + + for (configIter = configList.begin(); + configIter != configList.end(); + configIter++) { + + cout << "Alias: " + << dec << configIter->alias << endl + << "Position: " << configIter->position << endl + << "Vendor Id: 0x" + << hex << setfill('0') + << setw(8) << configIter->vendor_id << endl + << "Product code: 0x" + << setw(8) << configIter->product_code << endl + << "Attached: " << (configIter->attached ? "yes" : "no") << endl + << "Operational: " << (configIter->operational ? "yes" : "no") << endl; + + for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) { + if (configIter->syncs[j].pdo_count) { + cout << "SM" << dec << j << " (" + << (configIter->syncs[j].dir == EC_DIR_INPUT + ? "Input" : "Output") << ")" << endl; + for (k = 0; k < configIter->syncs[j].pdo_count; k++) { + masterDev.getConfigPdo(&pdo, configIter->config_index, j, k); + + cout << " Pdo 0x" << hex + << setw(4) << pdo.index + << " \"" << pdo.name << "\"" << endl; + + for (l = 0; l < pdo.entry_count; l++) { + masterDev.getConfigPdoEntry(&entry, + configIter->config_index, j, k, l); + + cout << " Pdo entry 0x" << hex + << setw(4) << entry.index << ":" + << setw(2) << (unsigned int) entry.subindex + << ", " << dec << (unsigned int) entry.bit_length + << " bit, \"" << entry.name << "\"" << endl; + } + } + } + } + + cout << "Sdo configuration:" << endl; + if (configIter->sdo_count) { + for (j = 0; j < configIter->sdo_count; j++) { + masterDev.getConfigSdo(&sdo, configIter->config_index, j); + + cout << " 0x" + << hex << setfill('0') + << setw(4) << sdo.index << ":" + << setw(2) << (unsigned int) sdo.subindex + << ", " << dec << sdo.size << " byte: " << hex; + + switch (sdo.size) { + case 1: + cout << "0x" << setw(2) + << (unsigned int) *(uint8_t *) &sdo.data; + break; + case 2: + cout << "0x" << setw(4) + << le16tocpu(*(uint16_t *) &sdo.data); + break; + case 4: + cout << "0x" << setw(8) + << le32tocpu(*(uint32_t *) &sdo.data); + break; + default: + cout << "???"; + } + + cout << endl; + } + } else { + cout << " None." << endl; + } + + cout << endl; + } +} + +/*****************************************************************************/ + +/** Lists the bus configuration. + */ +void listConfigs(const ConfigList &configList) +{ + ConfigList::const_iterator configIter; + stringstream str; + ConfigInfo info; + typedef list ConfigInfoList; + ConfigInfoList list; + ConfigInfoList::const_iterator iter; + unsigned int maxAliasWidth = 0, maxPosWidth = 0, + maxAttWidth = 0, maxOpWidth = 0; + + for (configIter = configList.begin(); + configIter != configList.end(); + configIter++) { + + str << dec << configIter->alias; + info.alias = str.str(); + str.clear(); + str.str(""); + + str << configIter->position; + info.pos = str.str(); + str.clear(); + str.str(""); + + str << hex << setfill('0') + << "0x" << setw(8) << configIter->vendor_id + << "/0x" << setw(8) << configIter->product_code; + info.ident = str.str(); + str.clear(); + str.str(""); + + str << (configIter->attached ? "attached" : "-"); + info.att = str.str(); + str.clear(); + str.str(""); + + str << (configIter->operational ? "operational" : "-"); + info.op = str.str(); + str.clear(); + str.str(""); + + list.push_back(info); + + if (info.alias.length() > maxAliasWidth) + maxAliasWidth = info.alias.length(); + if (info.pos.length() > maxPosWidth) + maxPosWidth = info.pos.length(); + if (info.att.length() > maxAttWidth) + maxAttWidth = info.att.length(); + if (info.op.length() > maxOpWidth) + maxOpWidth = info.op.length(); + } + + for (iter = list.begin(); iter != list.end(); iter++) { + cout << setfill(' ') << right + << setw(maxAliasWidth) << iter->alias + << ":" << left + << setw(maxPosWidth) << iter->pos + << " " + << iter->ident + << " " + << setw(maxAttWidth) << iter->att << " " + << setw(maxOpWidth) << iter->op << " " + << endl; + } +} + +/*****************************************************************************/ diff -r 52a005ffd011 -r ee305a780a02 tool/globals.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tool/globals.h Mon Jul 21 22:20:23 2008 +0000 @@ -0,0 +1,89 @@ +/***************************************************************************** + * + * $Id$ + * + ****************************************************************************/ + +#include + +#include +#include +#include +using namespace std; + +#include "MasterDevice.h" + +/*****************************************************************************/ + +enum Verbosity { + Quiet, + Normal, + Verbose +}; + +extern string command; +extern int slavePosition; +extern int domainIndex; +extern vector commandArgs; +extern Verbosity verbosity; +extern string dataTypeStr; +extern bool force; + +extern MasterDevice masterDev; + +/****************************************************************************/ + +class InvalidUsageException: + public runtime_error +{ + public: + /** Constructor with std::string parameter. */ + InvalidUsageException( + const stringstream &s /**< Message. */ + ): runtime_error(s.str()) {} +}; + +/****************************************************************************/ + +class ExecutionFailureException: + public runtime_error +{ + public: + /** Constructor with std::string parameter. */ + ExecutionFailureException( + const stringstream &s /**< Message. */ + ): runtime_error(s.str()) {} +}; + +/*****************************************************************************/ + +#define swap16(x) \ + ((uint16_t)( \ + (((uint16_t)(x) & 0x00ffU) << 8) | \ + (((uint16_t)(x) & 0xff00U) >> 8) )) +#define swap32(x) \ + ((uint32_t)( \ + (((uint32_t)(x) & 0x000000ffUL) << 24) | \ + (((uint32_t)(x) & 0x0000ff00UL) << 8) | \ + (((uint32_t)(x) & 0x00ff0000UL) >> 8) | \ + (((uint32_t)(x) & 0xff000000UL) >> 24) )) + +#if __BYTE_ORDER == __LITTLE_ENDIAN + +#define le16tocpu(x) x +#define le32tocpu(x) x + +#define cputole16(x) x +#define cputole32(x) x + +#elif __BYTE_ORDER == __BIG_ENDIAN + +#define le16tocpu(x) swap16(x) +#define le32tocpu(x) swap32(x) + +#define cputole16(x) swap16(x) +#define cputole32(x) swap32(x) + +#endif + +/****************************************************************************/ diff -r 52a005ffd011 -r ee305a780a02 tool/main.cpp --- a/tool/main.cpp Mon Jul 21 22:06:33 2008 +0000 +++ b/tool/main.cpp Mon Jul 21 22:20:23 2008 +0000 @@ -12,194 +12,58 @@ #include using namespace std; -#include "Master.h" - -/*****************************************************************************/ - -#define DEFAULT_MASTER 0 - -static string cmdName; -static unsigned int masterIndex = DEFAULT_MASTER; -static int slavePosition = -1; -static int domainIndex = -1; -static string command; +#include "globals.h" + +/*****************************************************************************/ + +string binaryBaseName; +unsigned int masterIndex = 0; +int slavePosition = -1; +int domainIndex = -1; +string command; vector commandArgs; -static Master::Verbosity verbosity = Master::Normal; +Verbosity verbosity = Normal; string dataTypeStr; bool force = false; + bool helpRequested = false; -/*****************************************************************************/ - -void printUsage() -{ - cerr - << "Usage: " << cmdName << " [OPTIONS]" << endl - << "Commands:" << endl - << " alias Write alias addresses." << endl - << " config Show bus configuration." << endl - << " data Output binary domain process data." << endl - << " debug Set the master's debug level." << endl - << " domain Show domain information." << endl - << " master Show master information." << endl - << " pdos List Pdo assignment/mapping." << endl - << " sdo_download Write an Sdo entry." << endl - << " sdos List Sdo dictionaries." << endl - << " sdo_upload Read an Sdo entry." << endl - << " sii_read Output a slave's SII contents." << endl - << " sii_write Write slave's SII contents." << endl - << " slaves Show slaves." << endl - << " state Request slave states." << endl - << " xml Generate slave information xmls." << endl - << "Global options:" << endl - << " --master -m Index of the master to use. Default: " - << DEFAULT_MASTER << endl - << " --slave -s Positive numerical ring position," - << endl - << " or 'all' for all slaves (default)." - << endl - << " --domain -d Positive numerical index," - << endl - << " or 'all' for all domains (default)." - << endl - << " --type -t Forced Sdo data type." << endl - << " --force -f Force action." << endl - << " --quiet -q Output less information." << endl - << " --verbose -v Output more information." << endl - << " --help -h Show this help." << endl - << "Call '" << cmdName << " --help' for command-specific " - << "help." << endl - << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl; -} - -/*****************************************************************************/ - -void getOptions(int argc, char **argv) -{ - int c, argCount, optionIndex, number; - char *remainder; - - static struct option longOptions[] = { - //name, has_arg, flag, val - {"master", required_argument, NULL, 'm'}, - {"slave", required_argument, NULL, 's'}, - {"domain", required_argument, NULL, 'd'}, - {"type", required_argument, NULL, 't'}, - {"force", no_argument, NULL, 'f'}, - {"quiet", no_argument, NULL, 'q'}, - {"verbose", no_argument, NULL, 'v'}, - {"help", no_argument, NULL, 'h'}, - {} - }; - - do { - c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex); - - switch (c) { - case 'm': - number = strtoul(optarg, &remainder, 0); - if (remainder == optarg || *remainder || number < 0) { - cerr << "Invalid master number " << optarg << "!" << endl; - printUsage(); - exit(1); - } - masterIndex = number; - break; - - case 's': - if (!strcmp(optarg, "all")) { - slavePosition = -1; - } else { - number = strtoul(optarg, &remainder, 0); - if (remainder == optarg || *remainder - || number < 0 || number > 0xFFFF) { - cerr << "Invalid slave position " - << optarg << "!" << endl; - printUsage(); - exit(1); - } - slavePosition = number; - } - break; - - case 'd': - if (!strcmp(optarg, "all")) { - domainIndex = -1; - } else { - number = strtoul(optarg, &remainder, 0); - if (remainder == optarg || *remainder || number < 0) { - cerr << "Invalid domain index " - << optarg << "!" << endl; - printUsage(); - exit(1); - } - domainIndex = number; - } - break; - - case 't': - dataTypeStr = optarg; - break; - - case 'f': - force = true; - break; - - case 'q': - verbosity = Master::Quiet; - break; - - case 'v': - verbosity = Master::Verbose; - break; - - case 'h': - helpRequested = true; - break; - - case '?': - printUsage(); - exit(1); - - default: - break; - } - } - while (c != -1); - - argCount = argc - optind; - - if (!argCount) { - if (!helpRequested) { - cerr << "Please specify a command!" << endl; - } - printUsage(); - exit(!helpRequested); - } - - command = argv[optind]; - while (++optind < argc) - commandArgs.push_back(string(argv[optind])); -} - -/****************************************************************************/ - -int main(int argc, char **argv) -{ - Master master; - - cmdName = basename(argv[0]); - - getOptions(argc, argv); - - master.setIndex(masterIndex); - master.setVerbosity(verbosity); - - try { - if (command == "alias") { - master.writeAlias(slavePosition, force, commandArgs); - } else if (command == "config") { - master.showConfigs(); +MasterDevice masterDev; + +/*****************************************************************************/ + +struct Command { + void (*func)(void); + const char *helpString; + + int execute(void) const; + void displayHelp(void) const; +}; + +struct CommandAlias { + const char *name; + const Command *command; +}; + +/*****************************************************************************/ + +#define COMMAND(name) \ + void command_##name(void); \ + extern const char *help_##name; \ + const Command cmd_##name = {command_##name, help_##name}; + +COMMAND(alias); +COMMAND(config); + +const CommandAlias commandAliases[] = { + {"alias", &cmd_alias}, + + {"config", &cmd_config}, + {"conf", &cmd_config}, + {"cf", &cmd_config}, +}; + +#if 0 } else if (command == "data") { master.outputData(domainIndex); } else if (command == "debug") { @@ -227,17 +91,221 @@ master.requestStates(slavePosition, commandArgs); } else if (command == "xml") { master.generateXml(slavePosition); +#endif + +/*****************************************************************************/ + +void printUsage() +{ + cerr + << "Usage: " << binaryBaseName << " [OPTIONS]" << endl + << "Commands:" << endl + << " alias Write alias addresses." << endl + << " config Show bus configuration." << endl + << " data Output binary domain process data." << endl + << " debug Set the master's debug level." << endl + << " domain Show domain information." << endl + << " master Show master information." << endl + << " pdos List Pdo assignment/mapping." << endl + << " sdo_download Write an Sdo entry." << endl + << " sdos List Sdo dictionaries." << endl + << " sdo_upload Read an Sdo entry." << endl + << " sii_read Output a slave's SII contents." << endl + << " sii_write Write slave's SII contents." << endl + << " slaves Show slaves." << endl + << " state Request slave states." << endl + << " xml Generate slave information xmls." << endl + << "Global options:" << endl + << " --master -m Index of the master to use. Default: 0" + << endl + << " --slave -s Positive numerical ring position," + << endl + << " or 'all' for all slaves (default)." + << endl + << " --domain -d Positive numerical index," + << endl + << " or 'all' for all domains (default)." + << endl + << " --type -t Forced Sdo data type." << endl + << " --force -f Force action." << endl + << " --quiet -q Output less information." << endl + << " --verbose -v Output more information." << endl + << " --help -h Show this help." << endl + << "Call '" << binaryBaseName + << " --help' for command-specific help." << endl + << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl; +} + +/*****************************************************************************/ + +void getOptions(int argc, char **argv) +{ + int c, argCount, optionIndex, number; + char *remainder; + + static struct option longOptions[] = { + //name, has_arg, flag, val + {"master", required_argument, NULL, 'm'}, + {"slave", required_argument, NULL, 's'}, + {"domain", required_argument, NULL, 'd'}, + {"type", required_argument, NULL, 't'}, + {"force", no_argument, NULL, 'f'}, + {"quiet", no_argument, NULL, 'q'}, + {"verbose", no_argument, NULL, 'v'}, + {"help", no_argument, NULL, 'h'}, + {} + }; + + do { + c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex); + + switch (c) { + case 'm': + number = strtoul(optarg, &remainder, 0); + if (remainder == optarg || *remainder || number < 0) { + cerr << "Invalid master number " << optarg << "!" << endl; + printUsage(); + exit(1); + } + masterIndex = number; + break; + + case 's': + if (!strcmp(optarg, "all")) { + slavePosition = -1; + } else { + number = strtoul(optarg, &remainder, 0); + if (remainder == optarg || *remainder + || number < 0 || number > 0xFFFF) { + cerr << "Invalid slave position " + << optarg << "!" << endl; + printUsage(); + exit(1); + } + slavePosition = number; + } + break; + + case 'd': + if (!strcmp(optarg, "all")) { + domainIndex = -1; + } else { + number = strtoul(optarg, &remainder, 0); + if (remainder == optarg || *remainder || number < 0) { + cerr << "Invalid domain index " + << optarg << "!" << endl; + printUsage(); + exit(1); + } + domainIndex = number; + } + break; + + case 't': + dataTypeStr = optarg; + break; + + case 'f': + force = true; + break; + + case 'q': + verbosity = Quiet; + break; + + case 'v': + verbosity = Verbose; + break; + + case 'h': + helpRequested = true; + break; + + case '?': + printUsage(); + exit(1); + + default: + break; + } + } + while (c != -1); + + argCount = argc - optind; + + if (!argCount) { + if (!helpRequested) { + cerr << "Please specify a command!" << endl; + } + printUsage(); + exit(!helpRequested); + } + + command = argv[optind]; + while (++optind < argc) + commandArgs.push_back(string(argv[optind])); +} + +/****************************************************************************/ + +int Command::execute() const +{ + try { + func(); + } catch (InvalidUsageException &e) { + cerr << e.what() << endl << endl; + displayHelp(); + return 1; + } catch (ExecutionFailureException &e) { + cerr << e.what() << endl; + return 1; + } catch (MasterDeviceException &e) { + cerr << e.what() << endl; + return 1; + } + + return 0; +} + +/****************************************************************************/ + +void Command::displayHelp() const +{ + cerr << binaryBaseName << " " << command << " " << helpString; +} + +/****************************************************************************/ + +int main(int argc, char **argv) +{ + int retval = 0; + const CommandAlias *alias; + const CommandAlias *endAlias = + commandAliases + sizeof(commandAliases) / sizeof(CommandAlias); + + binaryBaseName = basename(argv[0]); + getOptions(argc, argv); + + // search command alias in alias map + for (alias = commandAliases; alias < endAlias; alias++) { + if (command == alias->name) + break; + } + + if (alias < endAlias) { // command alias found + if (!helpRequested) { + masterDev.setIndex(masterIndex); + retval = alias->command->execute(); } else { - cerr << "Unknown command " << command << "!" << endl; - printUsage(); - exit(1); + alias->command->displayHelp(); } - } catch (MasterException &e) { - cerr << e.what() << endl; - exit(1); + } else { // command not found + cerr << "Unknown command " << command << "!" << endl << endl; + printUsage(); + retval = 1; } - return 0; + return retval; } /****************************************************************************/