--- a/NEWS Fri Jun 26 08:00:47 2009 +0000
+++ b/NEWS Fri Jun 26 09:46:57 2009 +0000
@@ -45,6 +45,7 @@
(thanks to E. Burgstaller).
* Module symbol versions file for ec_master.ko is installed to
prefix/modules/ec_master.symvers.
+* Added 'ethercat eoe' command to display Ethernet over EtherCAT statistics.
Changes in 1.4.0:
--- a/documentation/Makefile Fri Jun 26 08:00:47 2009 +0000
+++ b/documentation/Makefile Fri Jun 26 09:46:57 2009 +0000
@@ -17,6 +17,7 @@
debug \
domains \
download \
+ eoe \
foe_read \
foe_write \
graph \
--- a/documentation/ethercat_doc.tex Fri Jun 26 08:00:47 2009 +0000
+++ b/documentation/ethercat_doc.tex Fri Jun 26 09:46:57 2009 +0000
@@ -2115,6 +2115,12 @@
%------------------------------------------------------------------------------
+\subsection{EoE Statistics}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_eoe}
+
+%------------------------------------------------------------------------------
+
\subsection{File-Access over EtherCAT}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_foe_read}
--- a/master/cdev.c Fri Jun 26 08:00:47 2009 +0000
+++ b/master/cdev.c Fri Jun 26 09:46:57 2009 +0000
@@ -42,6 +42,7 @@
#include "master.h"
#include "slave_config.h"
#include "voe_handler.h"
+#include "ethernet.h"
#include "ioctl.h"
/** Set to 1 to enable ioctl() command debugging.
@@ -170,6 +171,7 @@
data.slave_count = master->slave_count;
data.config_count = ec_master_config_count(master);
data.domain_count = ec_master_domain_count(master);
+ data.eoe_handler_count = ec_master_eoe_handler_count(master);
data.phase = (uint8_t) master->phase;
data.scan_busy = master->scan_busy;
up(&master->master_sem);
@@ -1439,6 +1441,53 @@
/*****************************************************************************/
+/** Get EoE handler information.
+ */
+int ec_cdev_ioctl_eoe_handler(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_eoe_handler_t data;
+ const ec_eoe_t *eoe;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(eoe = ec_master_get_eoe_handler_const(master, data.eoe_index))) {
+ up(&master->master_sem);
+ EC_ERR("EoE handler %u does not exist!\n", data.eoe_index);
+ return -EINVAL;
+ }
+
+ if (eoe->slave) {
+ data.slave_position = eoe->slave->ring_position;
+ } else {
+ data.slave_position = 0xffff;
+ }
+ snprintf(data.name, EC_DATAGRAM_NAME_SIZE, eoe->dev->name);
+ data.open = eoe->opened;
+ data.rx_bytes = eoe->stats.tx_bytes;
+ data.rx_rate = eoe->tx_rate;
+ data.tx_bytes = eoe->stats.rx_bytes;
+ data.tx_rate = eoe->tx_rate;
+ data.tx_queued_frames = eoe->tx_queued_frames;
+ data.tx_queue_size = eoe->tx_queue_size;
+
+ up(&master->master_sem);
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Request the master from userspace.
*/
int ec_cdev_ioctl_request(
@@ -3133,6 +3182,8 @@
return ec_cdev_ioctl_config_pdo_entry(master, arg);
case EC_IOCTL_CONFIG_SDO:
return ec_cdev_ioctl_config_sdo(master, arg);
+ case EC_IOCTL_EOE_HANDLER:
+ return ec_cdev_ioctl_eoe_handler(master, arg);
case EC_IOCTL_REQUEST:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
--- a/master/datagram.h Fri Jun 26 08:00:47 2009 +0000
+++ b/master/datagram.h Fri Jun 26 09:46:57 2009 +0000
@@ -45,11 +45,6 @@
/*****************************************************************************/
-/** Size of the datagram description string. */
-#define EC_DATAGRAM_NAME_SIZE 20
-
-/*****************************************************************************/
-
/** EtherCAT datagram type.
*/
typedef enum {
--- a/master/ethernet.c Fri Jun 26 08:00:47 2009 +0000
+++ b/master/ethernet.c Fri Jun 26 09:46:57 2009 +0000
@@ -102,6 +102,7 @@
INIT_LIST_HEAD(&eoe->tx_queue);
eoe->tx_frame = NULL;
eoe->tx_queue_active = 0;
+ eoe->tx_queue_size = EC_EOE_TX_QUEUE_SIZE;
eoe->tx_queued_frames = 0;
eoe->tx_queue_lock = SPIN_LOCK_UNLOCKED;
eoe->tx_frame_number = 0xFF;
@@ -308,8 +309,8 @@
// update statistics
if (jiffies - eoe->rate_jiffies > HZ) {
- eoe->rx_rate = eoe->rx_counter * 8;
- eoe->tx_rate = eoe->tx_counter * 8;
+ eoe->rx_rate = eoe->rx_counter;
+ eoe->tx_rate = eoe->tx_counter;
eoe->rx_counter = 0;
eoe->tx_counter = 0;
eoe->rate_jiffies = jiffies;
@@ -574,7 +575,7 @@
eoe->tx_frame = list_entry(eoe->tx_queue.next, ec_eoe_frame_t, queue);
list_del(&eoe->tx_frame->queue);
if (!eoe->tx_queue_active &&
- eoe->tx_queued_frames == EC_EOE_TX_QUEUE_SIZE / 2) {
+ eoe->tx_queued_frames == eoe->tx_queue_size / 2) {
netif_wake_queue(eoe->dev);
eoe->tx_queue_active = 1;
#if EOE_DEBUG_LEVEL > 0
@@ -722,7 +723,7 @@
spin_lock_bh(&eoe->tx_queue_lock);
list_add_tail(&frame->queue, &eoe->tx_queue);
eoe->tx_queued_frames++;
- if (eoe->tx_queued_frames == EC_EOE_TX_QUEUE_SIZE) {
+ if (eoe->tx_queued_frames == eoe->tx_queue_size) {
netif_stop_queue(dev);
eoe->tx_queue_active = 0;
}
--- a/master/ethernet.h Fri Jun 26 08:00:47 2009 +0000
+++ b/master/ethernet.h Fri Jun 26 09:46:57 2009 +0000
@@ -34,6 +34,9 @@
/*****************************************************************************/
+#ifndef __EC_ETHERNET_H__
+#define __EC_ETHERNET_H__
+
#include <linux/list.h>
#include <linux/netdevice.h>
@@ -82,6 +85,7 @@
uint32_t rx_counter; /**< octets received during last second */
uint32_t rx_rate; /**< receive rate (bps) */
struct list_head tx_queue; /**< queue for frames to send */
+ unsigned int tx_queue_size; /**< Transmit queue size. */
unsigned int tx_queue_active; /**< kernel netif queue started */
unsigned int tx_queued_frames; /**< number of frames in the queue */
spinlock_t tx_queue_lock; /**< spinlock for the send queue */
@@ -102,3 +106,7 @@
int ec_eoe_is_open(const ec_eoe_t *);
/*****************************************************************************/
+
+#endif
+
+/*****************************************************************************/
--- a/master/globals.h Fri Jun 26 08:00:47 2009 +0000
+++ b/master/globals.h Fri Jun 26 09:46:57 2009 +0000
@@ -105,6 +105,12 @@
/** Number of DC sync signals. */
#define EC_SYNC_SIGNAL_COUNT 2
+/** Size of the datagram description string.
+ *
+ * This is also used as the maximum lenth of EoE device names.
+ **/
+#define EC_DATAGRAM_NAME_SIZE 20
+
/** Slave state mask.
*
* Apply this mask to a slave state byte to get the slave state without
--- a/master/ioctl.h Fri Jun 26 08:00:47 2009 +0000
+++ b/master/ioctl.h Fri Jun 26 09:46:57 2009 +0000
@@ -77,45 +77,46 @@
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x15, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x16, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x17, ec_ioctl_config_sdo_t)
+#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x18, ec_ioctl_eoe_handler_t)
// Application interface
-#define EC_IOCTL_REQUEST EC_IO(0x18)
-#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x19)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1a, ec_ioctl_config_t)
-#define EC_IOCTL_ACTIVATE EC_IOR(0x1b, size_t)
-#define EC_IOCTL_SEND EC_IO(0x1c)
-#define EC_IOCTL_RECEIVE EC_IO(0x1d)
-#define EC_IOCTL_MASTER_STATE EC_IOR(0x1e, ec_master_state_t)
-#define EC_IOCTL_APP_TIME EC_IOW(0x1f, ec_ioctl_app_time_t)
-#define EC_IOCTL_SYNC_REF EC_IO(0x20)
-#define EC_IOCTL_SYNC_SLAVES EC_IO(0x21)
-#define EC_IOCTL_SC_SYNC EC_IOW(0x22, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x23, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x24, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x25, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x26, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x27, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x28, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x29, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2a, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x2b, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x2c, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2d)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2e)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2f)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x30, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x31, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x32, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x33, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x34, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x35, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x36, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x37, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x38, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x39, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3a, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3b, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x3c, ec_ioctl_voe_t)
+#define EC_IOCTL_REQUEST EC_IO(0x19)
+#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t)
+#define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t)
+#define EC_IOCTL_SEND EC_IO(0x1d)
+#define EC_IOCTL_RECEIVE EC_IO(0x1e)
+#define EC_IOCTL_MASTER_STATE EC_IOR(0x1f, ec_master_state_t)
+#define EC_IOCTL_APP_TIME EC_IOW(0x20, ec_ioctl_app_time_t)
+#define EC_IOCTL_SYNC_REF EC_IO(0x21)
+#define EC_IOCTL_SYNC_SLAVES EC_IO(0x22)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x23, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x24, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x25, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x26, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x27, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x28, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x29, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x2a, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x2c, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x2d, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2e)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2f)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x30)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x31, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x32, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x33, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x34, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x35, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x36, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x37, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x38, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x39, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3a, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3b, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3c, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x3d, ec_ioctl_voe_t)
/*****************************************************************************/
@@ -127,6 +128,7 @@
uint32_t slave_count;
uint32_t config_count;
uint32_t domain_count;
+ uint32_t eoe_handler_count;
uint8_t phase;
uint8_t scan_busy;
struct {
@@ -442,6 +444,24 @@
/*****************************************************************************/
typedef struct {
+ // input
+ uint16_t eoe_index;
+
+ // outputs
+ char name[EC_DATAGRAM_NAME_SIZE];
+ uint16_t slave_position;
+ uint8_t open;
+ uint32_t rx_bytes;
+ uint32_t rx_rate;
+ uint32_t tx_bytes;
+ uint32_t tx_rate;
+ uint32_t tx_queued_frames;
+ uint32_t tx_queue_size;
+} ec_ioctl_eoe_handler_t;
+
+/*****************************************************************************/
+
+typedef struct {
// inputs
uint32_t config_index;
uint16_t pdo_index;
--- a/master/master.c Fri Jun 26 08:00:47 2009 +0000
+++ b/master/master.c Fri Jun 26 09:46:57 2009 +0000
@@ -1334,6 +1334,50 @@
/*****************************************************************************/
+/** Get the number of EoE handlers.
+ *
+ * \return Number of EoE handlers.
+ */
+uint16_t ec_master_eoe_handler_count(
+ const ec_master_t *master /**< EtherCAT master. */
+ )
+{
+ const ec_eoe_t *eoe;
+ unsigned int count = 0;
+
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ count++;
+ }
+
+ return count;
+}
+
+/*****************************************************************************/
+
+/** Get an EoE handler via its position in the list.
+ *
+ * Const version.
+ *
+ * \return EoE handler pointer, or \a NULL if not found.
+ */
+const ec_eoe_t *ec_master_get_eoe_handler_const(
+ const ec_master_t *master, /**< EtherCAT master. */
+ uint16_t index /**< EoE handler index. */
+ )
+{
+ const ec_eoe_t *eoe;
+
+ list_for_each_entry(eoe, &master->eoe_handlers, list) {
+ if (index--)
+ continue;
+ return eoe;
+ }
+
+ return NULL;
+}
+
+/*****************************************************************************/
+
/** Set the debug level.
*
* \retval 0 Success.
--- a/master/master.h Fri Jun 26 08:00:47 2009 +0000
+++ b/master/master.h Fri Jun 26 09:46:57 2009 +0000
@@ -51,6 +51,7 @@
#include "device.h"
#include "domain.h"
+#include "ethernet.h"
#include "fsm_master.h"
#include "cdev.h"
@@ -229,6 +230,8 @@
ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
const ec_domain_t *ec_master_find_domain_const(const ec_master_t *,
unsigned int);
+uint16_t ec_master_eoe_handler_count(const ec_master_t *);
+const ec_eoe_t *ec_master_get_eoe_handler_const(const ec_master_t *, uint16_t);
int ec_master_debug_level(ec_master_t *, unsigned int);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandEoe.cpp Fri Jun 26 09:46:57 2009 +0000
@@ -0,0 +1,103 @@
+/*****************************************************************************
+ *
+ * $Id: CommandSlaves.cpp 1767 2009-05-08 13:35:06Z fp $
+ *
+ * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+#include <list>
+#include <string.h>
+using namespace std;
+
+#include "CommandEoe.h"
+
+/*****************************************************************************/
+
+CommandEoe::CommandEoe():
+ Command("eoe", "Display Ethernet over EtherCAT statictics.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandEoe::helpString() const
+{
+ stringstream str;
+
+ str << getName() << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "The TxRate and RxRate are displayed in Byte/s." << endl
+ << endl;
+
+ return str.str();
+}
+
+/****************************************************************************/
+
+void CommandEoe::execute(MasterDevice &m, const StringVector &args)
+{
+ ec_ioctl_master_t master;
+ unsigned int i;
+ ec_ioctl_eoe_handler_t eoe;
+
+ if (args.size()) {
+ stringstream err;
+ err << "'" << getName() << "' takes no arguments!";
+ throwInvalidUsageException(err);
+ }
+
+ m.open(MasterDevice::Read);
+ m.getMaster(&master);
+
+ cout << "Interface Slave State "
+ << "RxBytes RxRate "
+ << "TxBytes TxRate TxQueue"
+ << endl;
+
+ for (i = 0; i < master.eoe_handler_count; i++) {
+ stringstream queue;
+
+ m.getEoeHandler(&eoe, i);
+
+ queue << eoe.tx_queued_frames << "/" << eoe.tx_queue_size;
+
+ cout
+ << setw(9) << eoe.name << " "
+ << setw(5) << dec << eoe.slave_position << " "
+ << setw(5) << (eoe.open ? "up" : "down") << " "
+ << setw(7) << eoe.rx_bytes << " "
+ << setw(6) << eoe.rx_rate << " "
+ << setw(7) << eoe.tx_bytes << " "
+ << setw(6) << eoe.tx_rate << " "
+ << setw(7) << queue.str()
+ << endl;
+ }
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandEoe.h Fri Jun 26 09:46:57 2009 +0000
@@ -0,0 +1,49 @@
+/*****************************************************************************
+ *
+ * $Id: CommandSlaves.h 1667 2009-02-24 12:51:39Z fp $
+ *
+ * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#ifndef __COMMANDEOE_H__
+#define __COMMANDEOE_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandEoe:
+ public Command
+{
+ public:
+ CommandEoe();
+
+ string helpString() const;
+ void execute(MasterDevice &, const StringVector &);
+};
+
+/****************************************************************************/
+
+#endif
--- a/tool/Makefile.am Fri Jun 26 08:00:47 2009 +0000
+++ b/tool/Makefile.am Fri Jun 26 09:46:57 2009 +0000
@@ -41,6 +41,7 @@
CommandDebug.cpp \
CommandDomains.cpp \
CommandDownload.cpp \
+ CommandEoe.cpp \
CommandFoeRead.cpp \
CommandFoeWrite.cpp \
CommandGraph.cpp \
@@ -71,6 +72,7 @@
CommandDebug.h \
CommandDomains.h \
CommandDownload.h \
+ CommandEoe.h \
CommandFoeRead.h \
CommandFoeWrite.h \
CommandGraph.h \
--- a/tool/MasterDevice.cpp Fri Jun 26 08:00:47 2009 +0000
+++ b/tool/MasterDevice.cpp Fri Jun 26 09:46:57 2009 +0000
@@ -483,4 +483,20 @@
}
}
+/****************************************************************************/
+
+void MasterDevice::getEoeHandler(
+ ec_ioctl_eoe_handler_t *eoe,
+ uint16_t eoeHandlerIndex
+ )
+{
+ eoe->eoe_index = eoeHandlerIndex;
+
+ if (ioctl(fd, EC_IOCTL_EOE_HANDLER, eoe)) {
+ stringstream err;
+ err << "Failed to get EoE handler: " << strerror(errno);
+ throw MasterDeviceException(err);
+ }
+}
+
/*****************************************************************************/
--- a/tool/MasterDevice.h Fri Jun 26 08:00:47 2009 +0000
+++ b/tool/MasterDevice.h Fri Jun 26 09:46:57 2009 +0000
@@ -117,6 +117,7 @@
void requestState(uint16_t, uint8_t);
void readFoe(ec_ioctl_slave_foe_t *);
void writeFoe(ec_ioctl_slave_foe_t *);
+ void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
private:
unsigned int index;
--- a/tool/main.cpp Fri Jun 26 08:00:47 2009 +0000
+++ b/tool/main.cpp Fri Jun 26 09:46:57 2009 +0000
@@ -41,6 +41,7 @@
#include "CommandDebug.h"
#include "CommandDomains.h"
#include "CommandDownload.h"
+#include "CommandEoe.h"
#include "CommandFoeRead.h"
#include "CommandFoeWrite.h"
#include "CommandGraph.h"
@@ -296,6 +297,7 @@
commandList.push_back(new CommandDebug());
commandList.push_back(new CommandDomains());
commandList.push_back(new CommandDownload());
+ commandList.push_back(new CommandEoe());
commandList.push_back(new CommandFoeRead());
commandList.push_back(new CommandFoeWrite());
commandList.push_back(new CommandGraph());