--- a/NEWS Wed Jul 29 09:19:53 2009 +0000
+++ b/NEWS Wed Jul 29 12:24:55 2009 +0000
@@ -59,6 +59,7 @@
* 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.
+* Added 'ethercat cstruct' command to output PDO information in C language.
* Significantly improved EoE bandwidth by running EoE processing in a kthread.
Changes in 1.4.0:
--- a/documentation/Makefile Wed Jul 29 09:19:53 2009 +0000
+++ b/documentation/Makefile Wed Jul 29 12:24:55 2009 +0000
@@ -13,6 +13,7 @@
COMMANDS := \
alias \
config \
+ cstruct \
data \
debug \
domains \
--- a/documentation/ethercat_doc.tex Wed Jul 29 09:19:53 2009 +0000
+++ b/documentation/ethercat_doc.tex Wed Jul 29 12:24:55 2009 +0000
@@ -2088,6 +2088,13 @@
%------------------------------------------------------------------------------
+\subsection{Output PDO information in C Language}
+\label{sec:ethercat-cstruct}
+
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_cstruct}
+
+%------------------------------------------------------------------------------
+
\subsection{Displaying Process Data}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_data}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandCStruct.cpp Wed Jul 29 12:24:55 2009 +0000
@@ -0,0 +1,198 @@
+/*****************************************************************************
+ *
+ * $Id: CommandXml.cpp 1778 2009-06-16 08:04:50Z 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 <string.h>
+using namespace std;
+
+#include "CommandCStruct.h"
+
+/*****************************************************************************/
+
+CommandCStruct::CommandCStruct():
+ Command("cstruct", "Generate slave PDO information in C language.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandCStruct::helpString() const
+{
+ stringstream str;
+
+ str << getName() << " [OPTIONS]" << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "The output C code can be used directly with the" << endl
+ << "ecrt_slave_config_pdos() function of the application" << endl
+ << "interface." << 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();
+
+ return str.str();
+}
+
+/****************************************************************************/
+
+void CommandCStruct::execute(MasterDevice &m, const StringVector &args)
+{
+ SlaveList slaves;
+ SlaveList::const_iterator si;
+
+ if (args.size()) {
+ stringstream err;
+ err << "'" << getName() << "' takes no arguments!";
+ throwInvalidUsageException(err);
+ }
+
+ m.open(MasterDevice::Read);
+ slaves = selectedSlaves(m);
+
+ for (si = slaves.begin(); si != slaves.end(); si++) {
+ generateSlaveCStruct(m, *si);
+ }
+}
+
+/****************************************************************************/
+
+void CommandCStruct::generateSlaveCStruct(
+ MasterDevice &m,
+ const ec_ioctl_slave_t &slave
+ )
+{
+ ec_ioctl_slave_sync_t sync;
+ ec_ioctl_slave_sync_pdo_t pdo;
+ ec_ioctl_slave_sync_pdo_entry_t entry;
+ unsigned int i, j, k, pdo_pos = 0, entry_pos = 0;
+ stringstream id, syncs, pdos, entries;
+
+ if (!slave.sync_count)
+ return;
+
+ id << "slave_" << dec << slave.position << "_";
+
+ for (i = 0; i < slave.sync_count; i++) {
+ m.getSync(&sync, slave.position, i);
+
+ syncs << " {" << dec << sync.sync_index
+ << ", " << (EC_READ_BIT(&sync.control_register, 2) ?
+ "EC_DIR_OUTPUT" : "EC_DIR_INPUT")
+ << ", " << dec << (unsigned int) sync.pdo_count
+ << ", ";
+ if (sync.pdo_count) {
+ syncs << id.str() << "pdos + " << dec << pdo_pos;
+ } else {
+ syncs << "NULL";
+ }
+ syncs << ", " << (EC_READ_BIT(&sync.control_register, 6) ?
+ "EC_WD_ENABLE" : "EC_WD_DISABLE")
+ << "},";
+ syncs << endl;
+ pdo_pos += sync.pdo_count;
+
+ for (j = 0; j < sync.pdo_count; j++) {
+ m.getPdo(&pdo, slave.position, i, j);
+
+ pdos << " {0x" << hex << setfill('0')
+ << setw(4) << pdo.index
+ << ", " << dec << (unsigned int) pdo.entry_count
+ << ", ";
+ if (pdo.entry_count) {
+ pdos << id.str() << "pdo_entries + " << dec << entry_pos;
+ } else {
+ pdos << "NULL";
+ }
+ pdos << "},";
+ if (strlen((const char *) pdo.name)) {
+ pdos << " /* " << pdo.name << " */";
+ }
+ pdos << endl;
+ entry_pos += pdo.entry_count;
+
+ for (k = 0; k < pdo.entry_count; k++) {
+ m.getPdoEntry(&entry, slave.position, i, j, k);
+
+ entries << " {0x" << hex << setfill('0')
+ << setw(4) << entry.index
+ << ", 0x" << setw(2) << (unsigned int) entry.subindex
+ << ", " << dec << (unsigned int) entry.bit_length
+ << "},";
+ if (strlen((const char *) entry.name)) {
+ entries << " /* " << entry.name << " */";
+ }
+ entries << endl;
+ }
+ }
+ }
+
+ cout
+ << "/* Slave " << slave.position;
+ if (strlen(slave.order)) {
+ cout << ", \"" << slave.order << "\"";
+ }
+
+ cout << endl
+ << " * Vendor ID: 0x" << hex << setfill('0')
+ << setw(8) << slave.vendor_id << endl
+ << " * Product code: 0x" << hex << setfill('0')
+ << setw(8) << slave.product_code << endl
+ << " * Revision number: 0x" << hex << setfill('0')
+ << setw(8) << slave.revision_number << endl
+ << " */" << endl
+ << endl;
+
+ if (entry_pos) {
+ cout << "ec_pdo_entry_info_t " << id.str()
+ << "pdo_entries[] = {" << endl
+ << entries.str()
+ << "};" << endl
+ << endl;
+ }
+
+ if (pdo_pos) {
+ cout << "ec_pdo_info_t " << id.str() << "pdos[] = {" << endl
+ << pdos.str()
+ << "};" << endl
+ << endl;
+ }
+
+ cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl
+ << syncs.str()
+ << "};" << endl
+ << endl;
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandCStruct.h Wed Jul 29 12:24:55 2009 +0000
@@ -0,0 +1,52 @@
+/*****************************************************************************
+ *
+ * $Id: CommandXml.h 1778 2009-06-16 08:04:50Z 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 __COMMANDCSTRUCT_H__
+#define __COMMANDCSTRUCT_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandCStruct:
+ public Command
+{
+ public:
+ CommandCStruct();
+
+ string helpString() const;
+ void execute(MasterDevice &, const StringVector &);
+
+ protected:
+ void generateSlaveCStruct(MasterDevice &, const ec_ioctl_slave_t &);
+};
+
+/****************************************************************************/
+
+#endif
--- a/tool/Makefile.am Wed Jul 29 09:19:53 2009 +0000
+++ b/tool/Makefile.am Wed Jul 29 12:24:55 2009 +0000
@@ -37,6 +37,7 @@
Command.cpp \
CommandAlias.cpp \
CommandConfig.cpp \
+ CommandCStruct.cpp \
CommandData.cpp \
CommandDebug.cpp \
CommandDomains.cpp \
@@ -68,6 +69,7 @@
Command.h \
CommandAlias.h \
CommandConfig.h \
+ CommandCStruct.h \
CommandData.h \
CommandDebug.h \
CommandDomains.h \
--- a/tool/main.cpp Wed Jul 29 09:19:53 2009 +0000
+++ b/tool/main.cpp Wed Jul 29 12:24:55 2009 +0000
@@ -37,6 +37,7 @@
#include "CommandAlias.h"
#include "CommandConfig.h"
+#include "CommandCStruct.h"
#include "CommandData.h"
#include "CommandDebug.h"
#include "CommandDomains.h"
@@ -293,6 +294,7 @@
commandList.push_back(new CommandAlias());
commandList.push_back(new CommandConfig());
+ commandList.push_back(new CommandCStruct());
commandList.push_back(new CommandData());
commandList.push_back(new CommandDebug());
commandList.push_back(new CommandDomains());