--- a/documentation/graphs/fsm_change.dot Tue Feb 02 19:38:32 2010 +0100
+++ b/documentation/graphs/fsm_change.dot Fri Feb 05 10:29:47 2010 +0100
@@ -3,32 +3,32 @@
digraph change {
- start [fontname="Helvetica"]
- start -> check [weight=5]
+ start [fontname="Helvetica"]
+ start -> check [weight=5]
- check [fontname="Helvetica"]
- check -> status [weight=5]
- check -> error [fontname="Helvetica", label="Response\ntimeout"]
+ check [fontname="Helvetica"]
+ check -> status [weight=5]
+ check -> error [fontname="Helvetica", label="Response\ntimeout"]
- status [fontname="Helvetica"]
- status -> end [fontname="Helvetica", label="Success", weight=5]
- status -> code [fontname="Helvetica", label="Refuse", weight=5]
- status -> error [fontname="Helvetica", label="Change\ntimeout"]
+ status [fontname="Helvetica"]
+ status -> end [fontname="Helvetica", label="Success", weight=5]
+ status -> code [fontname="Helvetica", label="Refuse", weight=5]
+ status -> error [fontname="Helvetica", label="Change\ntimeout"]
- code [fontname="Helvetica"]
- code -> ack [weight=2]
+ code [fontname="Helvetica"]
+ code -> ack [weight=2]
- start_ack [fontname="Helvetica"]
- start_ack -> ack [fontname="Helvetica", label="Ack only"]
+ start_ack [fontname="Helvetica"]
+ start_ack -> ack [fontname="Helvetica", label="Ack only"]
- ack [fontname="Helvetica"]
- ack -> check_ack [weight=2]
+ ack [fontname="Helvetica"]
+ ack -> check_ack [weight=2]
- check_ack [fontname="Helvetica"]
- check_ack -> end [fontname="Helvetica", label="Ack only"]
- check_ack -> error [weight=2]
+ check_ack [fontname="Helvetica"]
+ check_ack -> end [fontname="Helvetica", label="Ack only"]
+ check_ack -> error [weight=2]
- end [fontname="Helvetica"]
+ end [fontname="Helvetica"]
- error [fontname="Helvetica"]
+ error [fontname="Helvetica"]
}
--- a/documentation/graphs/fsm_master.dot Tue Feb 02 19:38:32 2010 +0100
+++ b/documentation/graphs/fsm_master.dot Fri Feb 05 10:29:47 2010 +0100
@@ -4,7 +4,7 @@
digraph master {
size="7,9"
center=1
- ratio=fill
+ ratio=fill
start [fontname="Helvetica"]
start -> broadcast [weight=10]
--- a/documentation/graphs/fsm_pdo_entry_conf.dot Tue Feb 02 19:38:32 2010 +0100
+++ b/documentation/graphs/fsm_pdo_entry_conf.dot Fri Feb 05 10:29:47 2010 +0100
@@ -3,23 +3,23 @@
digraph pdo_entry_conf {
- start [fontname="Helvetica"]
+ start [fontname="Helvetica"]
start -> zero_entry_count [weight=10]
- zero_entry_count [fontname="Helvetica"]
+ zero_entry_count [fontname="Helvetica"]
zero_entry_count -> end [fontname="Helvetica",label="No Entries"]
zero_entry_count -> action_map [fontname="Helvetica",label="Add first entry", weight=10]
action_map [shape=point,label=""]
- action_map -> map_entry [weight=10]
+ action_map -> map_entry [weight=10]
- map_entry [fontname="Helvetica"]
+ map_entry [fontname="Helvetica"]
map_entry -> action_map [fontname="Helvetica",label="Next entry"]
map_entry -> set_entry_count [fontname="Helvetica",label="No more Entries", weight=10]
- set_entry_count [fontname="Helvetica"]
+ set_entry_count [fontname="Helvetica"]
set_entry_count -> end [weight=10]
- end [fontname="Helvetica"]
- end
+ end [fontname="Helvetica"]
+ end
}
--- a/documentation/graphs/fsm_pdo_entry_read.dot Tue Feb 02 19:38:32 2010 +0100
+++ b/documentation/graphs/fsm_pdo_entry_read.dot Fri Feb 05 10:29:47 2010 +0100
@@ -3,17 +3,17 @@
digraph pdo_entry_read {
- start [fontname="Helvetica"]
+ start [fontname="Helvetica"]
start -> count [weight=5]
- count [fontname="Helvetica"]
- count -> action_next [weight=5]
+ count [fontname="Helvetica"]
+ count -> action_next [weight=5]
action_next [shape=point,label=""]
action_next -> pdo_entry [fontname="Helvetica", label="Next entry", weight=5]
- action_next -> end [fontname="Helvetica", label="No more entries"]
+ action_next -> end [fontname="Helvetica", label="No more entries"]
- pdo_entry [fontname="Helvetica"]
+ pdo_entry [fontname="Helvetica"]
pdo_entry -> action_next
end [fontname="Helvetica"]
--- a/documentation/graphs/fsm_pdo_read.dot Tue Feb 02 19:38:32 2010 +0100
+++ b/documentation/graphs/fsm_pdo_read.dot Fri Feb 05 10:29:47 2010 +0100
@@ -3,25 +3,25 @@
digraph pdo_read {
- start [fontname="Helvetica"]
+ start [fontname="Helvetica"]
start -> action_next_sync [fontname="Helvetica", label="First SM", weight=5]
action_next_sync [shape=point,label=""]
action_next_sync -> pdo_count [weight=5]
action_next_sync -> end
- pdo_count [fontname="Helvetica"]
+ pdo_count [fontname="Helvetica"]
pdo_count -> action_next_pdo [weight=5]
action_next_pdo [shape=point,label=""]
action_next_pdo -> pdo [fontname="Helvetica", label="Next PDO", weight=5]
- action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more PDOs"]
+ action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more PDOs"]
- pdo [fontname="Helvetica"]
+ pdo [fontname="Helvetica"]
pdo -> pdo_entries [weight=5]
- pdo_entries [fontname="Helvetica"]
+ pdo_entries [fontname="Helvetica"]
pdo_entries -> action_next_pdo
- end [fontname="Helvetica"]
+ end [fontname="Helvetica"]
}
--- a/documentation/graphs/fsm_sii.dot Tue Feb 02 19:38:32 2010 +0100
+++ b/documentation/graphs/fsm_sii.dot Fri Feb 05 10:29:47 2010 +0100
@@ -3,31 +3,31 @@
digraph sii {
- start_reading [fontname="Helvetica"]
- start_reading -> read_check [weight=5]
+ start_reading [fontname="Helvetica"]
+ start_reading -> read_check [weight=5]
- read_check [fontname="Helvetica"]
- read_check -> error
- read_check -> read_fetch [weight=5]
+ read_check [fontname="Helvetica"]
+ read_check -> error
+ read_check -> read_fetch [weight=5]
- read_fetch [fontname="Helvetica"]
- read_fetch -> error
- read_fetch -> end [weight=5]
- read_fetch -> read_fetch
+ read_fetch [fontname="Helvetica"]
+ read_fetch -> error
+ read_fetch -> end [weight=5]
+ read_fetch -> read_fetch
- start_writing [fontname="Helvetica"]
- start_writing -> write_check [weight=5]
+ start_writing [fontname="Helvetica"]
+ start_writing -> write_check [weight=5]
- write_check [fontname="Helvetica"]
- write_check -> error
- write_check -> write_check2 [weight=5]
+ write_check [fontname="Helvetica"]
+ write_check -> error
+ write_check -> write_check2 [weight=5]
- write_check2 [fontname="Helvetica"]
- write_check2 -> error
- write_check2 -> end [weight=5]
- write_check2 -> write_check2
+ write_check2 [fontname="Helvetica"]
+ write_check2 -> error
+ write_check2 -> end [weight=5]
+ write_check2 -> write_check2
- end [fontname="Helvetica"]
+ end [fontname="Helvetica"]
- error [fontname="Helvetica"]
+ error [fontname="Helvetica"]
}
--- a/examples/dc_user/main.c Tue Feb 02 19:38:32 2010 +0100
+++ b/examples/dc_user/main.c Fri Feb 05 10:29:47 2010 +0100
@@ -193,13 +193,13 @@
int main(int argc, char **argv)
{
- ec_slave_config_t *sc;
+ ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
- if (!master)
- return -1;
+ if (!master)
+ return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)
--- a/include/ecrt.h Tue Feb 02 19:38:32 2010 +0100
+++ b/include/ecrt.h Fri Feb 05 10:29:47 2010 +0100
@@ -217,7 +217,7 @@
typedef struct {
unsigned int slave_count; /**< Number of slaves in the bus. */
unsigned int link_up : 1; /**< \a true, if the network link is up. */
- uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
+ uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
uint64_t app_time; /**< Application time. */
} ec_master_info_t;
@@ -426,8 +426,8 @@
* \return Pointer to the opened master, otherwise \a NULL.
*/
ec_master_t *ecrt_open_master(
- unsigned int master_index /**< Index of the master to request. */
- );
+ unsigned int master_index /**< Index of the master to request. */
+ );
#endif // #ifndef __KERNEL__
@@ -455,8 +455,8 @@
*
*/
int ecrt_master_reserve(
- ec_master_t *master /**< EtherCAT master */
- );
+ ec_master_t *master /**< EtherCAT master */
+ );
#endif // #ifndef __KERNEL__
@@ -545,10 +545,10 @@
* \return 0 in case of success, else < 0
*/
int ecrt_master(
- ec_master_t *master, /**< EtherCAT master */
- ec_master_info_t *master_info /**< Structure that will output the
- information */
- );
+ ec_master_t *master, /**< EtherCAT master */
+ ec_master_info_t *master_info /**< Structure that will output the
+ information */
+ );
/** Obtains slave information.
*
@@ -700,7 +700,7 @@
*/
int ecrt_master_set_send_interval(
ec_master_t *master, /**< EtherCAT master. */
- size_t send_interval /**< Send interval in us */
+ size_t send_interval /**< Send interval in us */
);
/** Sends all datagrams in the queue.
@@ -1001,13 +1001,13 @@
* if the slave shall be operated without distributed clocks (default).
*/
void ecrt_slave_config_dc(
- ec_slave_config_t *sc, /**< Slave configuration. */
+ ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t assign_activate, /**< AssignActivate word. */
uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
- uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
+ uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
- uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
- );
+ uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
+ );
/** Add an SDO configuration.
*
--- a/lib/master.c Tue Feb 02 19:38:32 2010 +0100
+++ b/lib/master.c Fri Feb 05 10:29:47 2010 +0100
@@ -165,7 +165,7 @@
int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, ec_sync_info_t *sync)
{
- ec_ioctl_slave_sync_t data;
+ ec_ioctl_slave_sync_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@@ -181,7 +181,7 @@
}
sync->index = sync_index;
- sync->dir = EC_READ_BIT(&data.control_register, 2) ?
+ sync->dir = EC_READ_BIT(&data.control_register, 2) ?
EC_DIR_OUTPUT : EC_DIR_INPUT;
sync->n_pdos = data.pdo_count;
sync->pdos = NULL;
@@ -196,7 +196,7 @@
int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
{
- ec_ioctl_slave_sync_pdo_t data;
+ ec_ioctl_slave_sync_pdo_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@@ -225,7 +225,7 @@
uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
ec_pdo_entry_info_t *entry)
{
- ec_ioctl_slave_sync_pdo_entry_t data;
+ ec_ioctl_slave_sync_pdo_entry_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@@ -349,9 +349,9 @@
int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us)
{
- if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
- &send_interval_us) == -1) {
- fprintf(stderr, "Failed to set send interval: %s\n",
+ if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
+ &send_interval_us) == -1) {
+ fprintf(stderr, "Failed to set send interval: %s\n",
strerror(errno));
return -1; // FIXME
}
--- a/master/cdev.c Tue Feb 02 19:38:32 2010 +0100
+++ b/master/cdev.c Fri Feb 05 10:29:47 2010 +0100
@@ -1684,15 +1684,16 @@
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
- size_t send_interval;
-
- if (copy_from_user(&send_interval, (void __user *) arg, sizeof(send_interval))) {
- return -EFAULT;
- }
-
- if (down_interruptible(&master->master_sem))
- return -EINTR;
- ec_master_set_send_interval(master,send_interval);
+ size_t send_interval;
+
+ if (copy_from_user(&send_interval, (void __user *) arg,
+ sizeof(send_interval))) {
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+ ec_master_set_send_interval(master,send_interval);
up(&master->master_sem);
return 0;
@@ -3492,10 +3493,10 @@
return ec_cdev_ioctl_voe_exec(master, arg, priv);
case EC_IOCTL_VOE_DATA:
return ec_cdev_ioctl_voe_data(master, arg, priv);
- case EC_IOCTL_SET_SEND_INTERVAL:
- if (!(filp->f_mode & FMODE_WRITE))
- return -EPERM;
- return ec_cdev_ioctl_set_send_interval(master,arg,priv);
+ case EC_IOCTL_SET_SEND_INTERVAL:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_set_send_interval(master,arg,priv);
default:
return -ENOTTY;
}
--- a/master/fsm_master.c Tue Feb 02 19:38:32 2010 +0100
+++ b/master/fsm_master.c Fri Feb 05 10:29:47 2010 +0100
@@ -471,14 +471,14 @@
if (ec_fsm_master_action_process_sdo(fsm))
return;
- // enable processing of SDO/FOE requests
- for (slave = master->slaves;
- slave < master->slaves + master->slave_count;
- slave++) {
- ec_fsm_slave_ready(&slave->fsm);
- }
-
- // check, if slaves have an SDO dictionary to read out.
+ // enable processing of SDO/FOE requests
+ for (slave = master->slaves;
+ slave < master->slaves + master->slave_count;
+ slave++) {
+ ec_fsm_slave_ready(&slave->fsm);
+ }
+
+ // check, if slaves have an SDO dictionary to read out.
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
--- a/master/fsm_slave.c Tue Feb 02 19:38:32 2010 +0100
+++ b/master/fsm_slave.c Fri Feb 05 10:29:47 2010 +0100
@@ -62,9 +62,11 @@
fsm->slave = slave;
fsm->datagram = datagram;
fsm->datagram->data_size = 0;
- if (slave->master->debug_level)
- EC_DBG("init fsm for slave %u...\n",slave->ring_position);
- fsm->state = ec_fsm_slave_state_idle;
+
+ if (slave->master->debug_level)
+ EC_DBG("Init FSM for slave %u...\n", slave->ring_position);
+
+ fsm->state = ec_fsm_slave_state_idle;
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
@@ -112,16 +114,17 @@
*
*/
void ec_fsm_slave_ready(
- ec_fsm_slave_t *fsm /**< Slave state machine. */
- )
-{
- if (fsm->state == ec_fsm_slave_state_idle) {
- if (fsm->slave->master->debug_level) {
- EC_DBG("Slave %u ready for SDO/FOE.\n",fsm->slave->ring_position);
- }
- fsm->state = ec_fsm_slave_state_ready;
- }
- return;
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ if (fsm->state == ec_fsm_slave_state_idle) {
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Slave %u ready for SDO/FOE.\n",
+ fsm->slave->ring_position);
+ }
+ fsm->state = ec_fsm_slave_state_ready;
+ }
+ return;
}
/******************************************************************************
@@ -135,10 +138,10 @@
*
*/
void ec_fsm_slave_state_idle(
- ec_fsm_slave_t *fsm /**< Slave state machine. */
- )
-{
- // do nothing
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ // do nothing
}
@@ -149,18 +152,17 @@
*
*/
void ec_fsm_slave_state_ready(
- ec_fsm_slave_t *fsm /**< Slave state machine. */
- )
-{
- // Check for pending external SDO requests
- if (ec_fsm_slave_action_process_sdo(fsm))
- return;
- // Check for pending FOE requests
- if (ec_fsm_slave_action_process_foe(fsm))
- return;
-
-}
-
+ ec_fsm_slave_t *fsm /**< Slave state machine. */
+ )
+{
+ // Check for pending external SDO requests
+ if (ec_fsm_slave_action_process_sdo(fsm))
+ return;
+
+ // Check for pending FOE requests
+ if (ec_fsm_slave_action_process_foe(fsm))
+ return;
+}
/*****************************************************************************/
@@ -180,25 +182,27 @@
list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
list_del_init(&request->list); // dequeue
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- EC_WARN("Aborting SDO request, slave %u has ERROR.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
- if (slave->current_state == EC_SLAVE_STATE_INIT) {
- EC_WARN("Aborting SDO request, slave %u is in INIT.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
- request->req.state = EC_INT_REQUEST_BUSY;
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ EC_WARN("Aborting SDO request, slave %u has ERROR.\n",
+ slave->ring_position);
+ request->req.state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->sdo_queue);
+ fsm->sdo_request = NULL;
+ fsm->state = ec_fsm_slave_state_idle;
+ return 0;
+ }
+
+ if (slave->current_state == EC_SLAVE_STATE_INIT) {
+ EC_WARN("Aborting SDO request, slave %u is in INIT.\n",
+ slave->ring_position);
+ request->req.state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->sdo_queue);
+ fsm->sdo_request = NULL;
+ fsm->state = ec_fsm_slave_state_idle;
+ return 0;
+ }
+
+ request->req.state = EC_INT_REQUEST_BUSY;
// Found pending SDO request. Execute it!
if (master->debug_level)
@@ -233,20 +237,20 @@
// search the first request to be processed
list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
- if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
- EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
- slave->ring_position);
- request->req.state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_idle;
- return 0;
- }
- list_del_init(&request->list); // dequeue
+ if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
+ EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
+ slave->ring_position);
+ request->req.state = EC_INT_REQUEST_FAILURE;
+ wake_up(&slave->sdo_queue);
+ fsm->sdo_request = NULL;
+ fsm->state = ec_fsm_slave_state_idle;
+ return 0;
+ }
+ list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
if (master->debug_level)
- EC_DBG("Processing FOE request for slave %u.\n",
+ EC_DBG("Processing FOE request for slave %u.\n",
slave->ring_position);
fsm->foe_request = &request->req;
@@ -282,9 +286,9 @@
EC_DBG("Failed to process SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
- wake_up(&slave->sdo_queue);
- fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_idle;
+ wake_up(&slave->sdo_queue);
+ fsm->sdo_request = NULL;
+ fsm->state = ec_fsm_slave_state_idle;
return;
}
@@ -297,9 +301,8 @@
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
- fsm->state = ec_fsm_slave_state_ready;
-}
-
+ fsm->state = ec_fsm_slave_state_ready;
+}
/*****************************************************************************/
@@ -338,6 +341,7 @@
wake_up(&slave->foe_queue);
fsm->foe_request = NULL;
- fsm->state = ec_fsm_slave_state_ready;
-}
-
+ fsm->state = ec_fsm_slave_state_ready;
+}
+
+/*****************************************************************************/
--- a/master/fsm_slave_scan.c Tue Feb 02 19:38:32 2010 +0100
+++ b/master/fsm_slave_scan.c Fri Feb 05 10:29:47 2010 +0100
@@ -753,7 +753,7 @@
*/
void ec_fsm_slave_scan_state_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
- )
+ )
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
--- a/master/master.c Tue Feb 02 19:38:32 2010 +0100
+++ b/master/master.c Fri Feb 05 10:29:47 2010 +0100
@@ -795,35 +795,35 @@
ec_datagram_t *datagram /**< datagram */
)
{
- ec_datagram_t *queued_datagram;
+ ec_datagram_t *queued_datagram;
down(&master->io_sem);
- // check, if the datagram is already queued
- list_for_each_entry(queued_datagram, &master->external_datagram_queue,
+ // check, if the datagram is already queued
+ list_for_each_entry(queued_datagram, &master->external_datagram_queue,
queue) {
- if (queued_datagram == datagram) {
- datagram->state = EC_DATAGRAM_QUEUED;
- return;
- }
- }
+ if (queued_datagram == datagram) {
+ datagram->state = EC_DATAGRAM_QUEUED;
+ return;
+ }
+ }
#if DEBUG_INJECT
- if (master->debug_level) {
- EC_DBG("Requesting external datagram %p size=%u\n",
+ if (master->debug_level) {
+ EC_DBG("Requesting external datagram %p size=%u\n",
datagram, datagram->data_size);
- }
-#endif
-
- list_add_tail(&datagram->queue, &master->external_datagram_queue);
- datagram->state = EC_DATAGRAM_QUEUED;
+ }
+#endif
+
+ list_add_tail(&datagram->queue, &master->external_datagram_queue);
+ datagram->state = EC_DATAGRAM_QUEUED;
#ifdef EC_HAVE_CYCLES
- datagram->cycles_sent = get_cycles();
-#endif
- datagram->jiffies_sent = jiffies;
-
- master->fsm.idle = 0;
- up(&master->io_sem);
+ datagram->cycles_sent = get_cycles();
+#endif
+ datagram->jiffies_sent = jiffies;
+
+ master->fsm.idle = 0;
+ up(&master->io_sem);
}
/*****************************************************************************/
@@ -876,7 +876,7 @@
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
- size_t datagram_size;
+ size_t datagram_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
#ifdef EC_HAVE_CYCLES
@@ -1222,13 +1222,13 @@
ec_master_t *master = (ec_master_t *) priv_data;
ec_slave_t *slave = NULL;
int fsm_exec;
- size_t sent_bytes;
+ size_t sent_bytes;
// send interval in IDLE phase
- ec_master_set_send_interval(master, 1000000 / HZ);
-
- if (master->debug_level)
- EC_DBG("Idle thread running with send interval = %d us,"
+ ec_master_set_send_interval(master, 1000000 / HZ);
+
+ if (master->debug_level)
+ EC_DBG("Idle thread running with send interval = %d us,"
" max data size=%d\n", master->send_interval,
master->max_queue_size);
@@ -1259,20 +1259,20 @@
}
ec_master_inject_external_datagrams(master);
ecrt_master_send(master);
- sent_bytes = master->main_device.tx_skb[
+ sent_bytes = master->main_device.tx_skb[
master->main_device.tx_ring_index]->len;
up(&master->io_sem);
- if (ec_fsm_master_idle(&master->fsm)) {
+ if (ec_fsm_master_idle(&master->fsm)) {
#ifdef EC_USE_HRTIMER
- ec_master_nanosleep(master->send_interval * 1000);
+ ec_master_nanosleep(master->send_interval * 1000);
#else
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
#endif
} else {
#ifdef EC_USE_HRTIMER
- ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
+ ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
#else
schedule();
#endif
@@ -1296,7 +1296,7 @@
int fsm_exec;
if (master->debug_level)
- EC_DBG("Operation thread running with fsm interval = %d us,"
+ EC_DBG("Operation thread running with fsm interval = %d us,"
" max data size=%d\n",
master->send_interval,
master->max_queue_size);
@@ -1326,8 +1326,8 @@
}
#ifdef EC_USE_HRTIMER
- // the op thread should not work faster than the sending RT thread
- ec_master_nanosleep(master->send_interval * 1000);
+ // the op thread should not work faster than the sending RT thread
+ ec_master_nanosleep(master->send_interval * 1000);
#else
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
@@ -1337,7 +1337,7 @@
schedule();
}
#endif
- }
+ }
if (master->debug_level)
EC_DBG("Master OP thread exiting...\n");
@@ -2072,7 +2072,7 @@
}
// send frames
- ec_master_send_datagrams(master);
+ ec_master_send_datagrams(master);
}
/*****************************************************************************/
--- a/master/master.h Tue Feb 02 19:38:32 2010 +0100
+++ b/master/master.h Fri Feb 05 10:29:47 2010 +0100
@@ -155,7 +155,7 @@
ext_datagram_queue. */
struct list_head external_datagram_queue; /**< External Datagram queue. */
- size_t send_interval; /* interval between calls to ecrt_master_send */
+ size_t send_interval; /* interval between calls to ecrt_master_send */
size_t max_queue_size; /** max. size of datagram queue */
struct list_head domains; /**< List of domains. */
--- a/script/ifup-eoe.sh Tue Feb 02 19:38:32 2010 +0100
+++ b/script/ifup-eoe.sh Fri Feb 05 10:29:47 2010 +0100
@@ -27,6 +27,8 @@
# technology and brand is only permitted in compliance with the industrial
# property and similar rights of Beckhoff Automation GmbH.
#
+# vim: expandtab
+#
#------------------------------------------------------------------------------
# this ifup.d script adds special network interfaces to a network bridge
@@ -47,8 +49,8 @@
# does the EoE bridge already exist?
if ! ${BRCTL} show | grep -q "^${BRNAME}"; then
- ${LOGGER} Creating ${BRNAME}
- ${BRCTL} addbr ${BRNAME} # create it
+ ${LOGGER} Creating ${BRNAME}
+ ${BRCTL} addbr ${BRNAME} # create it
fi
${LOGGER} Adding ${IFNAME} to ${BRNAME}
--- a/script/init.d/ethercat.in Tue Feb 02 19:38:32 2010 +0100
+++ b/script/init.d/ethercat.in Fri Feb 05 10:29:47 2010 +0100
@@ -29,6 +29,8 @@
# technology and brand is only permitted in compliance with the industrial
# property and similar rights of Beckhoff Automation GmbH.
#
+# vim: expandtab
+#
#------------------------------------------------------------------------------
### BEGIN INIT INFO
@@ -58,9 +60,9 @@
if [ ! -r ${ETHERCAT_CONFIG} ]; then
echo ${ETHERCAT_CONFIG} not existing;
if [ "${1}" = "stop" ]; then
- exit 0
- else
- exit 6
+ exit 0
+ else
+ exit 6
fi
fi
--- a/tool/Command.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/Command.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -48,49 +48,49 @@
void Command::setVerbosity(Verbosity v)
{
- verbosity = v;
+ verbosity = v;
};
/*****************************************************************************/
void Command::setAlias(int a)
{
- alias = a;
+ alias = a;
};
/*****************************************************************************/
void Command::setPosition(int p)
{
- position = p;
+ position = p;
};
/*****************************************************************************/
void Command::setDomain(int d)
{
- domain = d;
+ domain = d;
};
/*****************************************************************************/
void Command::setDataType(const string &t)
{
- dataType = t;
+ dataType = t;
};
/*****************************************************************************/
void Command::setForce(bool f)
{
- force = f;
+ force = f;
};
/*****************************************************************************/
void Command::setOutputFile(const string &f)
{
- outputFile = f;
+ outputFile = f;
};
/****************************************************************************/
@@ -279,25 +279,25 @@
Command::DomainList Command::selectedDomains(MasterDevice &m)
{
- ec_ioctl_domain_t d;
- DomainList list;
+ ec_ioctl_domain_t d;
+ DomainList list;
if (domain == -1) {
- ec_ioctl_master_t master;
+ ec_ioctl_master_t master;
unsigned int i;
m.getMaster(&master);
for (i = 0; i < master.domain_count; i++) {
- m.getDomain(&d, i);
- list.push_back(d);
+ m.getDomain(&d, i);
+ list.push_back(d);
}
} else {
- m.getDomain(&d, domain);
- list.push_back(d);
- }
-
- return list;
+ m.getDomain(&d, domain);
+ list.push_back(d);
+ }
+
+ return list;
}
/****************************************************************************/
--- a/tool/Command.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/Command.h Fri Feb 05 10:29:47 2010 +0100
@@ -71,7 +71,7 @@
{
public:
Command(const string &, const string &);
- virtual ~Command();
+ virtual ~Command();
const string &getName() const;
const string &getBriefDescription() const;
@@ -82,7 +82,7 @@
Verbose
};
void setVerbosity(Verbosity);
- Verbosity getVerbosity() const;
+ Verbosity getVerbosity() const;
void setAlias(int);
int getAlias() const;
void setPosition(int);
@@ -91,10 +91,10 @@
int getDomain() const;
void setDataType(const string &);
const string &getDataType() const;
- void setForce(bool);
- bool getForce() const;
- void setOutputFile(const string &);
- const string &getOutputFile() const;
+ void setForce(bool);
+ bool getForce() const;
+ void setOutputFile(const string &);
+ const string &getOutputFile() const;
bool matchesSubstr(const string &) const;
bool matchesAbbrev(const string &) const;
@@ -107,7 +107,7 @@
static string numericInfo();
protected:
- enum {BreakAfterBytes = 16};
+ enum {BreakAfterBytes = 16};
void throwInvalidUsageException(const stringstream &) const;
void throwCommandException(const stringstream &) const;
@@ -123,15 +123,15 @@
static string alStateString(uint8_t);
private:
- string name;
+ string name;
string briefDesc;
Verbosity verbosity;
int alias;
int position;
- int domain;
- string dataType;
- bool force;
- string outputFile;
+ int domain;
+ string dataType;
+ bool force;
+ string outputFile;
Command();
};
--- a/tool/CommandCStruct.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandCStruct.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -53,7 +53,7 @@
<< endl
<< "The output C code can be used directly with the" << endl
<< "ecrt_slave_config_pdos() function of the application" << endl
- << "interface." << endl
+ << "interface." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
--- a/tool/CommandConfig.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandConfig.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -49,28 +49,28 @@
stringstream str;
str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
- << endl
- << "Without the --verbose option, slave configurations are" << endl
- << "output one-per-line. Example:" << endl
- << endl
- << "1001:0 0x0000003b/0x02010000 3 OP" << endl
- << "| | | |" << endl
- << "| | | \\- Application-layer" << endl
- << "| | | state of the attached" << endl
- << "| | | slave, or '-', if no" << endl
- << "| | | slave is attached." << endl
- << "| | \\- Absolute decimal ring" << endl
- << "| | position of the attached" << endl
- << "| | slave, or '-' if none" << endl
- << "| | attached." << endl
- << "| \\- Expected vendor ID and product code (both" << endl
- << "| hexadecimal)." << endl
- << "\\- Alias address and relative position (both decimal)." << endl
- << endl
- << "With the --verbose option given, the configured PDOs and" << endl
- << "SDOs are output in addition." << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "Without the --verbose option, slave configurations are" << endl
+ << "output one-per-line. Example:" << endl
+ << endl
+ << "1001:0 0x0000003b/0x02010000 3 OP" << endl
+ << "| | | |" << endl
+ << "| | | \\- Application-layer" << endl
+ << "| | | state of the attached" << endl
+ << "| | | slave, or '-', if no" << endl
+ << "| | | slave is attached." << endl
+ << "| | \\- Absolute decimal ring" << endl
+ << "| | position of the attached" << endl
+ << "| | slave, or '-' if none" << endl
+ << "| | attached." << endl
+ << "| \\- Expected vendor ID and product code (both" << endl
+ << "| hexadecimal)." << endl
+ << "\\- Alias address and relative position (both decimal)." << endl
+ << endl
+ << "With the --verbose option given, the configured PDOs and" << endl
+ << "SDOs are output in addition." << endl
<< endl
<< "Configuration selection:" << endl
<< " Slave configurations can be selected with" << endl
@@ -86,15 +86,15 @@
<< " 4) If both the --alias and the --position option are" << endl
<< " given, the selection can match a single" << endl
<< " configuration, that is displayed, if it exists." << endl
- << endl
- << "Command-specific options:" << endl
+ << endl
+ << "Command-specific options:" << endl
<< " --alias -a <alias> Configuration alias (see above)." << endl
<< " --position -p <pos> Relative position (see above)." << endl
- << " --verbose -v Show detailed configurations." << endl
+ << " --verbose -v Show detailed configurations." << endl
<< endl
<< numericInfo();
- return str.str();
+ return str.str();
}
/*****************************************************************************/
@@ -126,9 +126,9 @@
/** Lists the complete bus configuration.
*/
void CommandConfig::showDetailedConfigs(
- MasterDevice &m,
- const ConfigList &configList
- )
+ MasterDevice &m,
+ const ConfigList &configList
+ )
{
ConfigList::const_iterator configIter;
unsigned int i, j, k, l;
--- a/tool/CommandConfig.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandConfig.h Fri Feb 05 10:29:47 2010 +0100
@@ -46,17 +46,17 @@
string helpString() const;
void execute(MasterDevice &, const StringVector &);
- protected:
- struct Info {
- string alias;
- string pos;
- string ident;
- string slavePos;
- string state;
- };
+ protected:
+ struct Info {
+ string alias;
+ string pos;
+ string ident;
+ string slavePos;
+ string state;
+ };
- void showDetailedConfigs(MasterDevice &, const ConfigList &);
- void listConfigs(MasterDevice &m, const ConfigList &);
+ void showDetailedConfigs(MasterDevice &, const ConfigList &);
+ void listConfigs(MasterDevice &m, const ConfigList &);
};
/****************************************************************************/
--- a/tool/CommandData.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandData.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -46,28 +46,28 @@
stringstream str;
str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
+ << endl
+ << getBriefDescription() << endl
<< endl
<< "Data of multiple domains are concatenated." << endl
- << endl
- << "Command-specific options:" << endl
- << " --domain -d <index> Positive numerical domain index." << endl
- << " If omitted, data of all domains" << endl
- << " are output." << endl
- << endl
- << numericInfo();
+ << endl
+ << "Command-specific options:" << endl
+ << " --domain -d <index> Positive numerical domain index." << endl
+ << " If omitted, data of all domains" << endl
+ << " are output." << endl
+ << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
void CommandData::execute(MasterDevice &m, const StringVector &args)
{
- DomainList domains;
- DomainList::const_iterator di;
-
+ DomainList domains;
+ DomainList::const_iterator di;
+
if (args.size()) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
@@ -75,19 +75,19 @@
}
m.open(MasterDevice::Read);
- domains = selectedDomains(m);
+ domains = selectedDomains(m);
- for (di = domains.begin(); di != domains.end(); di++) {
- outputDomainData(m, *di);
- }
+ for (di = domains.begin(); di != domains.end(); di++) {
+ outputDomainData(m, *di);
+ }
}
/****************************************************************************/
void CommandData::outputDomainData(
- MasterDevice &m,
- const ec_ioctl_domain_t &domain
- )
+ MasterDevice &m,
+ const ec_ioctl_domain_t &domain
+ )
{
ec_ioctl_domain_data_t data;
unsigned char *processData;
--- a/tool/CommandData.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandData.h Fri Feb 05 10:29:47 2010 +0100
@@ -44,7 +44,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void outputDomainData(MasterDevice &, const ec_ioctl_domain_t &);
+ void outputDomainData(MasterDevice &, const ec_ioctl_domain_t &);
};
/****************************************************************************/
--- a/tool/CommandDebug.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandDebug.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -46,21 +46,21 @@
{
stringstream str;
- str << getName() << " <LEVEL>" << endl
- << endl
- << getBriefDescription() << endl
- << endl
- << "Debug messages are printed to syslog." << endl
- << endl
- << "Arguments:" << endl
- << " LEVEL can have one of the following values:" << endl
- << " 0 for no debugging output," << endl
- << " 1 for some debug messages, or" << endl
- << " 2 for printing all frame contents (use with caution!)."
- << endl << endl
- << numericInfo();
+ str << getName() << " <LEVEL>" << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "Debug messages are printed to syslog." << endl
+ << endl
+ << "Arguments:" << endl
+ << " LEVEL can have one of the following values:" << endl
+ << " 0 for no debugging output," << endl
+ << " 1 for some debug messages, or" << endl
+ << " 2 for printing all frame contents (use with caution!)."
+ << endl << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
--- a/tool/CommandDomains.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandDomains.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -46,54 +46,54 @@
{
stringstream str;
- str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
+ str << getName() << " [OPTIONS]" << endl
<< endl
- << "Without the --verbose option, the domains are displayed" << endl
+ << getBriefDescription() << endl
+ << endl
+ << "Without the --verbose option, the domains are displayed" << endl
<< "one-per-line. Example:" << endl
- << endl
- << "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1"
- << endl << endl
- << "The domain's base address for the logical datagram" << endl
- << "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
- << "process data size in byte. The last values are the current" << endl
- << "datagram working counter sum and the expected working" << endl
- << "counter sum. If the values are equal, all PDOs were" << endl
+ << endl
+ << "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1"
+ << endl << endl
+ << "The domain's base address for the logical datagram" << endl
+ << "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
+ << "process data size in byte. The last values are the current" << endl
+ << "datagram working counter sum and the expected working" << endl
+ << "counter sum. If the values are equal, all PDOs were" << endl
<< "exchanged during the last cycle." << endl
<< endl
- << "If the --verbose option is given, the participating slave" << endl
- << "configurations/FMMUs and the current process data are" << endl
- << "additionally displayed:" << endl
- << endl
- << "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1"
- << endl
- << " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
- << endl
- << " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
- << endl
- << "The process data are displayed as hexadecimal bytes." << endl
- << endl
- << "Command-specific options:" << endl
- << " --domain -d <index> Positive numerical domain index." << endl
- << " If ommitted, all domains are" << endl
+ << "If the --verbose option is given, the participating slave" << endl
+ << "configurations/FMMUs and the current process data are" << endl
+ << "additionally displayed:" << endl
+ << endl
+ << "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1"
+ << endl
+ << " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
+ << endl
+ << " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
+ << endl
+ << "The process data are displayed as hexadecimal bytes." << endl
+ << endl
+ << "Command-specific options:" << endl
+ << " --domain -d <index> Positive numerical domain index." << endl
+ << " If ommitted, all domains are" << endl
<< " displayed." << endl
- << endl
- << " --verbose -v Show FMMUs and process data" << endl
- << " in addition." << endl
- << endl
- << numericInfo();
+ << endl
+ << " --verbose -v Show FMMUs and process data" << endl
+ << " in addition." << endl
+ << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
void CommandDomains::execute(MasterDevice &m, const StringVector &args)
{
- DomainList domains;
- DomainList::const_iterator di;
-
+ DomainList domains;
+ DomainList::const_iterator di;
+
if (args.size()) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
@@ -101,34 +101,34 @@
}
m.open(MasterDevice::Read);
- domains = selectedDomains(m);
+ domains = selectedDomains(m);
- for (di = domains.begin(); di != domains.end(); di++) {
- showDomain(m, *di);
- }
+ for (di = domains.begin(); di != domains.end(); di++) {
+ showDomain(m, *di);
+ }
}
/****************************************************************************/
void CommandDomains::showDomain(
- MasterDevice &m,
- const ec_ioctl_domain_t &domain
- )
+ MasterDevice &m,
+ const 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;
-
- cout << "Domain" << dec << domain.index << ":"
- << " LogBaseAddr 0x"
- << hex << setfill('0')
+
+ cout << "Domain" << dec << domain.index << ":"
+ << " LogBaseAddr 0x"
+ << hex << setfill('0')
<< setw(8) << domain.logical_base_address
- << ", Size " << dec << setfill(' ')
+ << ", Size " << dec << setfill(' ')
<< setw(3) << domain.data_size
- << ", WorkingCounter "
- << domain.working_counter << "/"
+ << ", WorkingCounter "
+ << domain.working_counter << "/"
<< domain.expected_working_counter << endl;
if (!domain.data_size || getVerbosity() != Verbose)
--- a/tool/CommandDomains.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandDomains.h Fri Feb 05 10:29:47 2010 +0100
@@ -44,7 +44,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void showDomain(MasterDevice &, const ec_ioctl_domain_t &);
+ void showDomain(MasterDevice &, const ec_ioctl_domain_t &);
};
/****************************************************************************/
--- a/tool/CommandDownload.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandDownload.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -47,38 +47,38 @@
stringstream str;
str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
- << endl
- << getBriefDescription() << endl
+ << endl
+ << getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
- << endl
- << "The data type of the SDO entry is taken from the SDO" << endl
- << "dictionary by default. It can be overridden with the" << endl
- << "--type option. If the slave does not support the SDO" << endl
- << "information service or the SDO is not in the dictionary," << endl
- << "the --type option is mandatory." << endl
- << endl
- << "These are the valid SDO entry data types:" << endl
- << " int8, int16, int32, uint8, uint16, uint32, string," << endl
+ << endl
+ << "The data type of the SDO entry is taken from the SDO" << endl
+ << "dictionary by default. It can be overridden with the" << endl
+ << "--type option. If the slave does not support the SDO" << endl
+ << "information service or the SDO is not in the dictionary," << endl
+ << "the --type option is mandatory." << endl
+ << endl
+ << "These are the valid SDO entry data types:" << endl
+ << " int8, int16, int32, uint8, uint16, uint32, string," << endl
<< " octet_string." << endl
- << endl
- << "Arguments:" << endl
- << " INDEX is the SDO index and must be an unsigned" << endl
- << " 16 bit number." << endl
- << " SUBINDEX is the SDO entry subindex and must be an" << endl
- << " unsigned 8 bit number." << endl
- << " VALUE is the value to download and must correspond" << endl
- << " to the SDO entry datatype (see above)." << endl
- << endl
- << "Command-specific options:" << endl
+ << endl
+ << "Arguments:" << endl
+ << " INDEX is the SDO index and must be an unsigned" << endl
+ << " 16 bit number." << endl
+ << " SUBINDEX is the SDO entry subindex and must be an" << endl
+ << " unsigned 8 bit number." << endl
+ << " VALUE is the value to download and must correspond" << endl
+ << " to the SDO entry datatype (see above)." << endl
+ << endl
+ << "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
- << " --type -t <type> SDO entry data type (see above)." << endl
- << endl
- << numericInfo();
-
- return str.str();
+ << " --type -t <type> SDO entry data type (see above)." << endl
+ << endl
+ << numericInfo();
+
+ return str.str();
}
/****************************************************************************/
@@ -235,15 +235,15 @@
throwInvalidUsageException(err);
}
- try {
+ try {
m.sdoDownload(&data);
- } catch (MasterDeviceSdoAbortException &e) {
+ } catch (MasterDeviceSdoAbortException &e) {
delete [] data.data;
err << "SDO transfer aborted with code 0x"
<< setfill('0') << hex << setw(8) << e.abortCode
<< ": " << abortText(e.abortCode);
throwCommandException(err);
- } catch(MasterDeviceException &e) {
+ } catch(MasterDeviceException &e) {
delete [] data.data;
throw e;
}
--- a/tool/CommandDownload.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandDownload.h Fri Feb 05 10:29:47 2010 +0100
@@ -43,8 +43,8 @@
string helpString() const;
void execute(MasterDevice &, const StringVector &);
- protected:
- enum {DefaultBufferSize = 1024};
+ protected:
+ enum {DefaultBufferSize = 1024};
};
/****************************************************************************/
--- a/tool/CommandFoeRead.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandFoeRead.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -50,25 +50,25 @@
stringstream str;
str << getName() << " [OPTIONS] <SOURCEFILE>" << endl
- << endl
- << getBriefDescription() << endl
- << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
<< "This command requires a single slave to be selected." << endl
- << endl
+ << endl
<< "Arguments:" << endl
<< " SOURCEFILE is the name of the source file on the slave." << endl
<< endl
- << "Command-specific options:" << endl
+ << "Command-specific options:" << endl
<< " --output-file -o <file> Local target filename. If" << endl
<< " '-' (default), data are" << endl
<< " printed to stdout." << endl
<< " --alias -a <alias> " << endl
<< " --position -p <pos> Slave selection. See the help" << endl
<< " of the 'slaves' command." << endl
- << endl
- << numericInfo();
+ << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
@@ -104,9 +104,9 @@
strncpy(data.file_name, args[0].c_str(), sizeof(data.file_name));
- try {
- m.readFoe(&data);
- } catch (MasterDeviceException &e) {
+ try {
+ m.readFoe(&data);
+ } catch (MasterDeviceException &e) {
delete [] data.buffer;
if (data.result) {
if (data.result == FOE_OPCODE_ERROR) {
@@ -121,13 +121,13 @@
} else {
throw e;
}
- }
+ }
// TODO --output-file
- for (i = 0; i < data.data_size; i++) {
- uint8_t *w = data.buffer + i;
- cout << *(uint8_t *) w ;
- }
+ for (i = 0; i < data.data_size; i++) {
+ uint8_t *w = data.buffer + i;
+ cout << *(uint8_t *) w ;
+ }
delete [] data.buffer;
}
--- a/tool/CommandFoeWrite.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandFoeWrite.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -56,7 +56,7 @@
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
- << endl
+ << endl
<< "Arguments:" << endl
<< " FILENAME can either be a path to a file, or '-'. In" << endl
<< " the latter case, data are read from stdin and" << endl
--- a/tool/CommandGraph.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandGraph.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -119,7 +119,7 @@
cout << endl;
for (si = slaves.begin(); si != slaves.end(); si++) {
- cout << " slave" << si->position << " [shape=\"box\""
+ cout << " slave" << si->position << " [shape=\"box\""
<< ",label=\"" << si->position;
if (string(si->order).size())
cout << "\\n" << si->order;
--- a/tool/CommandMaster.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandMaster.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -48,16 +48,16 @@
{
stringstream str;
- str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
- << endl
- << "Command-specific options:" << endl
- << " --master -m <index> Index of the master to use. Default: 0."
- << endl << endl
- << numericInfo();
+ str << getName() << " [OPTIONS]" << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "Command-specific options:" << endl
+ << " --master -m <index> Index of the master to use. Default: 0."
+ << endl << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
--- a/tool/CommandPdos.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandPdos.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -47,43 +47,43 @@
stringstream str;
str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
<< endl
- << "The information is displayed in three layers, which are" << endl
- << "indented accordingly:" << endl
- << endl
- << "1) Sync managers - Contains the sync manager information" << endl
- << " from the SII: Index, physical start address, default" << endl
- << " size, control register and enable word. Example:" << endl
- << endl
- << " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
- << "Enable 1" << endl
- << endl
- << "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
- << " the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
+ << getBriefDescription() << endl
+ << endl
+ << "The information is displayed in three layers, which are" << endl
+ << "indented accordingly:" << endl
+ << endl
+ << "1) Sync managers - Contains the sync manager information" << endl
+ << " from the SII: Index, physical start address, default" << endl
+ << " size, control register and enable word. Example:" << endl
+ << endl
+ << " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
+ << "Enable 1" << endl
+ << endl
+ << "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
+ << " the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
<< " are seen from the slave's point of view. Example:" << endl
- << endl
- << " TxPDO 0x1a00 \"Channel1\"" << endl
- << endl
- << "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
- << " hexadecimal), the length in bit and the description, if" << endl
- << " available. Example:" << endl
- << endl
- << " PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
- << endl
- << "Note, that the displayed PDO assignment and PDO mapping" << endl
- << "information can either originate from the SII or from the" << endl
- << "CoE communication area." << endl
- << endl
- << "Command-specific options:" << endl
+ << endl
+ << " TxPDO 0x1a00 \"Channel1\"" << endl
+ << endl
+ << "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
+ << " hexadecimal), the length in bit and the description, if" << endl
+ << " available. Example:" << endl
+ << endl
+ << " PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
+ << endl
+ << "Note, that the displayed PDO assignment and PDO mapping" << endl
+ << "information can either originate from the SII or from the" << endl
+ << "CoE communication area." << endl
+ << endl
+ << "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
- << endl
- << numericInfo();
+ << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
@@ -112,10 +112,10 @@
/****************************************************************************/
void CommandPdos::listSlavePdos(
- MasterDevice &m,
+ MasterDevice &m,
const ec_ioctl_slave_t &slave,
- bool showHeader
- )
+ bool showHeader
+ )
{
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;
--- a/tool/CommandPdos.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandPdos.h Fri Feb 05 10:29:47 2010 +0100
@@ -44,7 +44,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void listSlavePdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
+ void listSlavePdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
};
/****************************************************************************/
--- a/tool/CommandRegRead.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandRegRead.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -47,11 +47,11 @@
stringstream str;
str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
- << endl
- << getBriefDescription() << endl
- << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
<< "This command requires a single slave to be selected." << endl
- << endl
+ << endl
<< "Arguments:" << endl
<< " OFFSET is the register address. Must" << endl
<< " be an unsigned 16 bit number." << endl
@@ -65,15 +65,15 @@
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
<< " uint64, string, raw." << endl
<< endl
- << "Command-specific options:" << endl
+ << "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --type -t <type> Data type (see above)." << endl
- << endl
- << numericInfo();
-
- return str.str();
+ << endl
+ << numericInfo();
+
+ return str.str();
}
/****************************************************************************/
@@ -151,12 +151,12 @@
data.data = new uint8_t[data.length];
- try {
- m.readReg(&data);
- } catch (MasterDeviceException &e) {
+ try {
+ m.readReg(&data);
+ } catch (MasterDeviceException &e) {
delete [] data.data;
- throw e;
- }
+ throw e;
+ }
cout << setfill('0');
if (!dataType || string(dataType->name) == "string") {
--- a/tool/CommandRegWrite.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandRegWrite.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -53,20 +53,20 @@
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
- << endl
+ << endl
<< "Arguments:" << endl
<< " OFFSET is the register address to write to." << endl
<< " DATA depends on whether a datatype was specified" << endl
- << " with the --type option: If not, DATA must be" << endl
- << " either a path to a file with data to write," << endl
- << " or '-', which means, that data are read from" << endl
- << " stdin. If a datatype was specified, VALUE is" << endl
- << " interpreted respective to the given type." << endl
+ << " with the --type option: If not, DATA must be" << endl
+ << " either a path to a file with data to write," << endl
+ << " or '-', which means, that data are read from" << endl
+ << " stdin. If a datatype was specified, VALUE is" << endl
+ << " interpreted respective to the given type." << endl
<< endl
<< "These are the valid data types:" << endl
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
<< " uint64, string." << endl
- << endl
+ << endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
@@ -101,93 +101,93 @@
throwInvalidUsageException(err);
}
- if (getDataType().empty()) {
- if (args[1] == "-") {
- loadRegData(&data, cin);
- } else {
- file.open(args[1].c_str(), ifstream::in | ifstream::binary);
- if (file.fail()) {
- err << "Failed to open '" << args[1] << "'!";
- throwCommandException(err);
- }
- loadRegData(&data, file);
- file.close();
- }
- } else {
- stringstream strValue;
- const DataType *dataType = findDataType(getDataType());
+ if (getDataType().empty()) {
+ if (args[1] == "-") {
+ loadRegData(&data, cin);
+ } else {
+ file.open(args[1].c_str(), ifstream::in | ifstream::binary);
+ if (file.fail()) {
+ err << "Failed to open '" << args[1] << "'!";
+ throwCommandException(err);
+ }
+ loadRegData(&data, file);
+ file.close();
+ }
+ } else {
+ stringstream strValue;
+ const DataType *dataType = findDataType(getDataType());
if (!dataType) {
err << "Invalid data type '" << getDataType() << "'!";
throwInvalidUsageException(err);
}
- if (dataType->byteSize) {
- data.length = dataType->byteSize;
- data.data = new uint8_t[data.length];
- }
-
- strValue << args[1];
- strValue >> resetiosflags(ios::basefield); // guess base from prefix
- strValue.exceptions(ios::failbit);
-
- try {
- if (string(dataType->name) == "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 = (int8_t) val;
- } else if (string(dataType->name) == "int16") {
- int16_t val;
- strValue >> val;
- *(int16_t *) data.data = cpu_to_le16(val);
- } else if (string(dataType->name) == "int32") {
- int32_t val;
- strValue >> val;
- *(int32_t *) data.data = cpu_to_le32(val);
- } else if (string(dataType->name) == "int64") {
- int64_t val;
- strValue >> val;
- *(int64_t *) data.data = cpu_to_le64(val);
- } else if (string(dataType->name) == "uint8") {
- uint16_t val; // uint8_t is interpreted as char
- strValue >> val;
- if (val > 0xff)
- throw ios::failure("Value out of range");
- *data.data = (uint8_t) val;
- } else if (string(dataType->name) == "uint16") {
- uint16_t val;
- strValue >> val;
- *(uint16_t *) data.data = cpu_to_le16(val);
- } else if (string(dataType->name) == "uint32") {
- uint32_t val;
- strValue >> val;
- *(uint32_t *) data.data = cpu_to_le32(val);
- } else if (string(dataType->name) == "uint64") {
- uint64_t val;
- strValue >> val;
- *(uint64_t *) data.data = cpu_to_le64(val);
- } else if (string(dataType->name) == "string" ||
- string(dataType->name) == "octet_string") {
- data.length = strValue.str().size();
- if (!data.length) {
- err << "Zero-size string now allowed!";
- throwCommandException(err);
- }
- data.data = new uint8_t[data.length];
- strValue >> (char *) data.data;
- } else {
- err << "Invalid data type " << dataType->name;
- throwCommandException(err);
- }
- } catch (ios::failure &e) {
- delete [] data.data;
- err << "Invalid value argument '" << args[1]
- << "' for type '" << dataType->name << "'!";
- throwInvalidUsageException(err);
- }
- }
+ if (dataType->byteSize) {
+ data.length = dataType->byteSize;
+ data.data = new uint8_t[data.length];
+ }
+
+ strValue << args[1];
+ strValue >> resetiosflags(ios::basefield); // guess base from prefix
+ strValue.exceptions(ios::failbit);
+
+ try {
+ if (string(dataType->name) == "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 = (int8_t) val;
+ } else if (string(dataType->name) == "int16") {
+ int16_t val;
+ strValue >> val;
+ *(int16_t *) data.data = cpu_to_le16(val);
+ } else if (string(dataType->name) == "int32") {
+ int32_t val;
+ strValue >> val;
+ *(int32_t *) data.data = cpu_to_le32(val);
+ } else if (string(dataType->name) == "int64") {
+ int64_t val;
+ strValue >> val;
+ *(int64_t *) data.data = cpu_to_le64(val);
+ } else if (string(dataType->name) == "uint8") {
+ uint16_t val; // uint8_t is interpreted as char
+ strValue >> val;
+ if (val > 0xff)
+ throw ios::failure("Value out of range");
+ *data.data = (uint8_t) val;
+ } else if (string(dataType->name) == "uint16") {
+ uint16_t val;
+ strValue >> val;
+ *(uint16_t *) data.data = cpu_to_le16(val);
+ } else if (string(dataType->name) == "uint32") {
+ uint32_t val;
+ strValue >> val;
+ *(uint32_t *) data.data = cpu_to_le32(val);
+ } else if (string(dataType->name) == "uint64") {
+ uint64_t val;
+ strValue >> val;
+ *(uint64_t *) data.data = cpu_to_le64(val);
+ } else if (string(dataType->name) == "string" ||
+ string(dataType->name) == "octet_string") {
+ data.length = strValue.str().size();
+ if (!data.length) {
+ err << "Zero-size string now allowed!";
+ throwCommandException(err);
+ }
+ data.data = new uint8_t[data.length];
+ strValue >> (char *) data.data;
+ } else {
+ err << "Invalid data type " << dataType->name;
+ throwCommandException(err);
+ }
+ } catch (ios::failure &e) {
+ delete [] data.data;
+ err << "Invalid value argument '" << args[1]
+ << "' for type '" << dataType->name << "'!";
+ throwInvalidUsageException(err);
+ }
+ }
if ((uint32_t) data.offset + data.length > 0xffff) {
err << "Offset and length exceeding 64k!";
--- a/tool/CommandSdos.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandSdos.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -47,41 +47,41 @@
stringstream str;
str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
- << endl
- << "SDO dictionary information is displayed in two layers," << endl
- << "which are indented accordingly:" << endl
- << endl
- << "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl
- << endl
- << " SDO 0x1018, \"Identity object\"" << endl
- << endl
- << "2) SDO entries - SDO index and SDO entry subindex (both" << endl
- << " hexadecimal) followed by the access rights (see" << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "SDO dictionary information is displayed in two layers," << endl
+ << "which are indented accordingly:" << endl
+ << endl
+ << "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl
+ << endl
+ << " SDO 0x1018, \"Identity object\"" << endl
+ << endl
+ << "2) SDO entries - SDO index and SDO entry subindex (both" << endl
+ << " hexadecimal) followed by the access rights (see" << endl
<< " below), the data type, the length in bit, and the" << endl
<< " description. Example:" << endl
- << endl
- << " 0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl
- << endl
+ << endl
+ << " 0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl
+ << endl
<< "The access rights are specified for the AL states PREOP," << endl
<< "SAFEOP and OP. An 'r' means, that the entry is readable" << endl
<< "in the corresponding state, an 'w' means writable," << endl
<< "respectively. If a right is not granted, a dash '-' is" << endl
<< "shown." << endl
<< endl
- << "If the --quiet option is given, only the SDOs are output."
- << endl << endl
- << "Command-specific options:" << endl
+ << "If the --quiet option is given, only the SDOs are output."
+ << endl << endl
+ << "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
- << " --quiet -q Only output SDOs (without the" << endl
- << " SDO entries)." << endl
- << endl
- << numericInfo();
+ << " --quiet -q Only output SDOs (without the" << endl
+ << " SDO entries)." << endl
+ << endl
+ << numericInfo();
- return str.str();
+ return str.str();
}
/****************************************************************************/
@@ -110,10 +110,10 @@
/****************************************************************************/
void CommandSdos::listSlaveSdos(
- MasterDevice &m,
+ MasterDevice &m,
const ec_ioctl_slave_t &slave,
- bool showHeader
- )
+ bool showHeader
+ )
{
ec_ioctl_slave_sdo_t sdo;
ec_ioctl_slave_sdo_entry_t entry;
--- a/tool/CommandSdos.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandSdos.h Fri Feb 05 10:29:47 2010 +0100
@@ -44,7 +44,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- void listSlaveSdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
+ void listSlaveSdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
};
/****************************************************************************/
--- a/tool/CommandSiiRead.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandSiiRead.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -47,28 +47,28 @@
stringstream str;
str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl
- << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
<< "This command requires a single slave to be selected." << endl
- << endl
- << "Without the --verbose option, binary SII contents are" << endl
- << "output." << endl
- << endl
- << "With the --verbose option given, a textual representation" << endl
- << "of the data is output, that is separated by SII category" << endl
- << "names." << endl
- << endl
- << "Command-specific options:" << endl
+ << endl
+ << "Without the --verbose option, binary SII contents are" << endl
+ << "output." << endl
+ << endl
+ << "With the --verbose option given, a textual representation" << endl
+ << "of the data is output, that is separated by SII category" << endl
+ << "names." << endl
+ << endl
+ << "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
- << " --verbose -v Output textual data with" << endl
- << " category names." << endl
- << endl
- << numericInfo();
-
- return str.str();
+ << " --verbose -v Output textual data with" << endl
+ << " category names." << endl
+ << endl
+ << numericInfo();
+
+ return str.str();
}
/****************************************************************************/
@@ -104,12 +104,12 @@
data.nwords = slave->sii_nwords;
data.words = new uint16_t[data.nwords];
- try {
- m.readSii(&data);
- } catch (MasterDeviceException &e) {
+ try {
+ m.readSii(&data);
+ } catch (MasterDeviceException &e) {
delete [] data.words;
- throw e;
- }
+ throw e;
+ }
if (getVerbosity() == Verbose) {
cout << "SII Area:" << hex << setfill('0');
--- a/tool/CommandSiiRead.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandSiiRead.h Fri Feb 05 10:29:47 2010 +0100
@@ -44,12 +44,12 @@
void execute(MasterDevice &, const StringVector &);
protected:
- struct CategoryName {
- uint16_t type;
- const char *name;
- };
- static const CategoryName categoryNames[];
- static const char *getCategoryName(uint16_t);
+ struct CategoryName {
+ uint16_t type;
+ const char *name;
+ };
+ static const CategoryName categoryNames[];
+ static const char *getCategoryName(uint16_t);
};
/****************************************************************************/
--- a/tool/CommandSiiWrite.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandSiiWrite.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -53,7 +53,7 @@
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
- << endl
+ << endl
<< "The file contents are checked for validity and integrity." << endl
<< "These checks can be overridden with the --force option." << endl
<< endl
--- a/tool/CommandUpload.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandUpload.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -51,7 +51,7 @@
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
- << endl
+ << endl
<< "The data type of the SDO entry is taken from the SDO" << endl
<< "dictionary by default. It can be overridden with the" << endl
<< "--type option. If the slave does not support the SDO" << endl
@@ -152,15 +152,15 @@
data.target = new uint8_t[data.target_size + 1];
- try {
- m.sdoUpload(&data);
- } catch (MasterDeviceSdoAbortException &e) {
+ try {
+ m.sdoUpload(&data);
+ } catch (MasterDeviceSdoAbortException &e) {
delete [] data.target;
err << "SDO transfer aborted with code 0x"
<< setfill('0') << hex << setw(8) << e.abortCode
<< ": " << abortText(e.abortCode);
throwCommandException(err);
- } catch (MasterDeviceException &e) {
+ } catch (MasterDeviceException &e) {
delete [] data.target;
throw e;
}
@@ -237,9 +237,9 @@
/****************************************************************************/
void CommandUpload::printRawData(
- const uint8_t *data,
- unsigned int size
- )
+ const uint8_t *data,
+ unsigned int size
+ )
{
cout << hex << setfill('0');
while (size--) {
--- a/tool/CommandUpload.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandUpload.h Fri Feb 05 10:29:47 2010 +0100
@@ -44,7 +44,7 @@
void execute(MasterDevice &, const StringVector &);
protected:
- enum {DefaultBufferSize = 64 * 1024};
+ enum {DefaultBufferSize = 64 * 1024};
static void printRawData(const uint8_t *, unsigned int);
};
--- a/tool/CommandVersion.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/CommandVersion.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -45,11 +45,11 @@
{
stringstream str;
- str << getName() << " [OPTIONS]" << endl
- << endl
- << getBriefDescription() << endl;
+ str << getName() << " [OPTIONS]" << endl
+ << endl
+ << getBriefDescription() << endl;
- return str.str();
+ return str.str();
}
/****************************************************************************/
--- a/tool/FoeCommand.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/FoeCommand.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -41,49 +41,49 @@
std::string FoeCommand::resultText(int result)
{
- switch (result) {
- case FOE_BUSY:
- return "FOE_BUSY";
- case FOE_READY:
- return "FOE_READY";
- case FOE_IDLE:
- return "FOE_IDLE";
- case FOE_WC_ERROR:
- return "FOE_WC_ERROR";
- case FOE_RECEIVE_ERROR:
- return "FOE_RECEIVE_ERROR";
- case FOE_PROT_ERROR:
- return "FOE_PROT_ERROR";
- case FOE_NODATA_ERROR:
- return "FOE_NODATA_ERROR";
- case FOE_PACKETNO_ERROR:
- return "FOE_PACKETNO_ERROR";
- case FOE_OPCODE_ERROR:
- return "FOE_OPCODE_ERROR";
- case FOE_TIMEOUT_ERROR:
- return "FOE_TIMEOUT_ERROR";
- case FOE_SEND_RX_DATA_ERROR:
- return "FOE_SEND_RX_DATA_ERROR";
- case FOE_RX_DATA_ACK_ERROR:
- return "FOE_RX_DATA_ACK_ERROR";
- case FOE_ACK_ERROR:
- return "FOE_ACK_ERROR";
- case FOE_MBOX_FETCH_ERROR:
- return "FOE_MBOX_FETCH_ERROR";
- case FOE_READ_NODATA_ERROR:
- return "FOE_READ_NODATA_ERROR";
- case FOE_MBOX_PROT_ERROR:
- return "FOE_MBOX_PROT_ERROR";
- default:
- return "???";
- }
+ switch (result) {
+ case FOE_BUSY:
+ return "FOE_BUSY";
+ case FOE_READY:
+ return "FOE_READY";
+ case FOE_IDLE:
+ return "FOE_IDLE";
+ case FOE_WC_ERROR:
+ return "FOE_WC_ERROR";
+ case FOE_RECEIVE_ERROR:
+ return "FOE_RECEIVE_ERROR";
+ case FOE_PROT_ERROR:
+ return "FOE_PROT_ERROR";
+ case FOE_NODATA_ERROR:
+ return "FOE_NODATA_ERROR";
+ case FOE_PACKETNO_ERROR:
+ return "FOE_PACKETNO_ERROR";
+ case FOE_OPCODE_ERROR:
+ return "FOE_OPCODE_ERROR";
+ case FOE_TIMEOUT_ERROR:
+ return "FOE_TIMEOUT_ERROR";
+ case FOE_SEND_RX_DATA_ERROR:
+ return "FOE_SEND_RX_DATA_ERROR";
+ case FOE_RX_DATA_ACK_ERROR:
+ return "FOE_RX_DATA_ACK_ERROR";
+ case FOE_ACK_ERROR:
+ return "FOE_ACK_ERROR";
+ case FOE_MBOX_FETCH_ERROR:
+ return "FOE_MBOX_FETCH_ERROR";
+ case FOE_READ_NODATA_ERROR:
+ return "FOE_READ_NODATA_ERROR";
+ case FOE_MBOX_PROT_ERROR:
+ return "FOE_MBOX_PROT_ERROR";
+ default:
+ return "???";
+ }
}
/****************************************************************************/
std::string FoeCommand::errorText(int errorCode)
{
- switch (errorCode) {
+ switch (errorCode) {
case 0x00008001:
return "Not found.";
case 0x00008002:
@@ -106,9 +106,9 @@
return "No rights.";
case 0x0000800b:
return "Program Error.";
- default:
- return "Unknown error code";
- }
+ default:
+ return "Unknown error code";
+ }
}
/****************************************************************************/
--- a/tool/FoeCommand.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/FoeCommand.h Fri Feb 05 10:29:47 2010 +0100
@@ -41,8 +41,8 @@
FoeCommand(const string &, const string &);
protected:
- static std::string resultText(int);
- static std::string errorText(int);
+ static std::string resultText(int);
+ static std::string errorText(int);
};
/****************************************************************************/
--- a/tool/MasterDevice.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/MasterDevice.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -69,15 +69,15 @@
stringstream deviceName;
if (fd == -1) { // not already open
- 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);
- }
+ 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);
+ }
}
}
@@ -86,9 +86,9 @@
void MasterDevice::close()
{
if (fd != -1) {
- ::close(fd);
- fd = -1;
- }
+ ::close(fd);
+ fd = -1;
+ }
}
/****************************************************************************/
@@ -427,7 +427,7 @@
stringstream err;
err << "Failed to set debug level: " << strerror(errno);
throw MasterDeviceException(err);
- }
+ }
}
/****************************************************************************/
@@ -442,7 +442,7 @@
err << "Failed to download SDO: " << strerror(errno);
throw MasterDeviceException(err);
}
- }
+ }
}
/****************************************************************************/
--- a/tool/MasterDevice.h Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/MasterDevice.h Fri Feb 05 10:29:47 2010 +0100
@@ -83,7 +83,7 @@
~MasterDevice();
void setIndex(unsigned int);
- unsigned int getIndex() const;
+ unsigned int getIndex() const;
enum Permissions {Read, ReadWrite};
void open(Permissions);
@@ -111,11 +111,11 @@
void writeSii(ec_ioctl_slave_sii_t *);
void readReg(ec_ioctl_slave_reg_t *);
void writeReg(ec_ioctl_slave_reg_t *);
- void setDebug(unsigned int);
- void sdoDownload(ec_ioctl_slave_sdo_download_t *);
- void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
- void requestState(uint16_t, uint8_t);
- void readFoe(ec_ioctl_slave_foe_t *);
+ void setDebug(unsigned int);
+ void sdoDownload(ec_ioctl_slave_sdo_download_t *);
+ void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
+ void requestState(uint16_t, uint8_t);
+ void readFoe(ec_ioctl_slave_foe_t *);
void writeFoe(ec_ioctl_slave_foe_t *);
#ifdef EC_EOE
void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
@@ -130,7 +130,7 @@
inline unsigned int MasterDevice::getIndex() const
{
- return index;
+ return index;
}
/****************************************************************************/
--- a/tool/main.cpp Tue Feb 02 19:38:32 2010 +0100
+++ b/tool/main.cpp Fri Feb 05 10:29:47 2010 +0100
@@ -99,7 +99,7 @@
str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
<< endl << endl
- << "Commands (can be abbreviated):" << endl;
+ << "Commands (can be abbreviated):" << endl;
str << left;
for (ci = commandList.begin(); ci != commandList.end(); ci++) {
@@ -108,9 +108,9 @@
}
str << endl
- << "Global options:" << endl
+ << "Global options:" << endl
<< " --master -m <master> Index of the master to use. Default: 0."
- << endl
+ << endl
<< " --force -f Force a command." << endl
<< " --quiet -q Output less information." << endl
<< " --verbose -v Output more information." << endl
@@ -239,7 +239,7 @@
}
while (c != -1);
- argCount = argc - optind;
+ argCount = argc - optind;
if (!argCount) {
if (helpRequested) {
@@ -250,7 +250,7 @@
<< endl << usage();
exit(1);
}
- }
+ }
commandName = argv[optind];
while (++optind < argc)
@@ -320,7 +320,7 @@
commandList.push_back(new CommandVersion());
commandList.push_back(new CommandXml());
- getOptions(argc, argv);
+ getOptions(argc, argv);
matchingCommands = getMatchingCommands(commandName);
masterDev.setIndex(masterIndex);
@@ -368,7 +368,7 @@
retval = 1;
}
- return retval;
+ return retval;
}
/****************************************************************************/