mirror of
https://gitlab.com/etherlab.org/ethercat.git
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309 lines
10 KiB
C++
309 lines
10 KiB
C++
/*****************************************************************************
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*
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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****************************************************************************/
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#include <iostream>
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#include <iomanip>
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#include <cstring>
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using namespace std;
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#include "CommandPdos.h"
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#include "MasterDevice.h"
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/****************************************************************************/
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CommandPdos::CommandPdos():
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Command("pdos", "List Sync managers, PDO assignment and mapping.")
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{
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}
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/****************************************************************************/
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string CommandPdos::helpString(const string &binaryBaseName) const
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{
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stringstream str;
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str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "For the default skin (see --skin option) the information" << endl
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<< "is displayed in three layers, which are" << endl
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<< "indented accordingly:" << endl
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<< endl
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<< "1) Sync managers - Contains the sync manager information" << endl
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<< " from the SII: Index, physical start address, default" << endl
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<< " size, control register and enable word. Example:" << endl
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<< endl
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<< " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
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<< "Enable 1" << endl
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<< endl
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<< "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
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<< " the PDO name, if available. Note that a 'Tx' and 'Rx'" << endl
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<< " are seen from the slave's point of view. Example:" << endl
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<< endl
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<< " TxPDO 0x1a00 \"Channel1\"" << endl
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<< endl
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<< "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
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<< " hexadecimal), the length in bit and the description, if" << endl
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<< " available. Example:" << endl
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<< endl
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<< " PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
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<< endl
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<< "Note, that the displayed PDO assignment and PDO mapping" << endl
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<< "information can either originate from the SII or from the" << endl
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<< "CoE communication area." << endl
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<< endl
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<< "The \"etherlab\" skin outputs a template configuration" << endl
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<< "for EtherLab's generic EtherCAT slave block." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --alias -a <alias>" << endl
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<< " --position -p <pos> Slave selection. See the help of" << endl
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<< " the 'slaves' command." << endl
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<< " --skin -s <skin> Choose output skin. Possible values are"
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<< endl
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<< " \"default\" and \"etherlab\"." << endl
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<< endl
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<< numericInfo();
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return str.str();
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}
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/****************************************************************************/
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void CommandPdos::execute(const StringVector &args)
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{
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MasterIndexList masterIndices;
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SlaveList slaves;
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SlaveList::const_iterator si;
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bool showHeader, multiMaster;
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if (args.size()) {
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stringstream err;
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err << "'" << getName() << "' takes no arguments!";
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throwInvalidUsageException(err);
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}
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if (getSkin().empty() || getSkin() == "default") {
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masterIndices = getMasterIndices();
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multiMaster = masterIndices.size() > 1;
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MasterIndexList::const_iterator mi;
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for (mi = masterIndices.begin();
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mi != masterIndices.end(); mi++) {
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MasterDevice m(*mi);
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m.open(MasterDevice::Read);
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slaves = selectedSlaves(m);
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showHeader = multiMaster || slaves.size() > 1;
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for (si = slaves.begin(); si != slaves.end(); si++) {
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listSlavePdos(m, *si, showHeader);
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}
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}
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}
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else if (getSkin() == "etherlab") {
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masterIndices = getMasterIndices();
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MasterIndexList::const_iterator mi;
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for (mi = masterIndices.begin();
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mi != masterIndices.end(); mi++) {
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MasterDevice m(*mi);
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m.open(MasterDevice::Read);
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slaves = selectedSlaves(m);
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for (si = slaves.begin(); si != slaves.end(); si++) {
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etherlabConfig(m, *si);
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}
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}
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}
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else {
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stringstream err;
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err << "Invalid skin '" << getSkin() << "'!";
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throwInvalidUsageException(err);
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}
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}
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/****************************************************************************/
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void CommandPdos::listSlavePdos(
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MasterDevice &m,
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const ec_ioctl_slave_t &slave,
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bool showHeader
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)
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{
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ec_ioctl_slave_sync_t sync;
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ec_ioctl_slave_sync_pdo_t pdo;
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ec_ioctl_slave_sync_pdo_entry_t entry;
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unsigned int i, j, k;
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if (showHeader && slave.sync_count)
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cout << "=== Master " << m.getIndex()
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<< ", Slave " << slave.position << " ===" << endl;
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for (i = 0; i < slave.sync_count; i++) {
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m.getSync(&sync, slave.position, i);
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cout << "SM" << i << ":"
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<< " PhysAddr 0x"
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<< hex << setfill('0')
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<< setw(4) << sync.physical_start_address
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<< ", DefaultSize "
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<< dec << setfill(' ') << setw(4) << sync.default_size
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<< ", ControlRegister 0x"
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<< hex << setfill('0') << setw(2)
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<< (unsigned int) sync.control_register
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<< ", Enable " << dec << (unsigned int) sync.enable
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<< endl;
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for (j = 0; j < sync.pdo_count; j++) {
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m.getPdo(&pdo, slave.position, i, j);
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cout << " " << (sync.control_register & 0x04 ? "R" : "T")
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<< "xPDO 0x"
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<< hex << setfill('0')
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<< setw(4) << pdo.index
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<< " \"" << pdo.name << "\"" << endl;
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if (getVerbosity() == Quiet)
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continue;
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for (k = 0; k < pdo.entry_count; k++) {
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m.getPdoEntry(&entry, slave.position, i, j, k);
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cout << " PDO entry 0x"
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<< hex << setfill('0')
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<< setw(4) << entry.index
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<< ":" << setw(2) << (unsigned int) entry.subindex
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<< ", " << dec << setfill(' ')
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<< setw(2) << (unsigned int) entry.bit_length
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<< " bit, \"" << entry.name << "\"" << endl;
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}
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}
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}
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}
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/****************************************************************************/
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void CommandPdos::etherlabConfig(
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MasterDevice &m,
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const ec_ioctl_slave_t &slave
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)
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{
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ec_ioctl_slave_sync_t sync;
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ec_ioctl_slave_sync_pdo_t pdo;
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ec_ioctl_slave_sync_pdo_entry_t entry;
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unsigned int i, j, k;
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cout << "%" << endl
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<< "% Master " << m.getIndex() << ", Slave " << slave.position;
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if (strlen(slave.order)) {
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cout << ", \"" << slave.order << "\"";
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}
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cout << endl
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<< "%" << endl
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<< "function rv = slave" << slave.position << "()" << endl << endl;
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cout << "% Slave configuration" << endl << endl;
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cout << "rv.SlaveConfig.vendor = " << slave.vendor_id << ";" << endl
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<< "rv.SlaveConfig.product = hex2dec('"
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<< hex << setfill('0') << setw(8) << slave.product_code << "');"
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<< endl
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<< "rv.SlaveConfig.description = '" << slave.order << "';" << endl
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<< "rv.SlaveConfig.sm = { ..." << endl;
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/* slave configuration */
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for (i = 0; i < slave.sync_count; i++) {
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m.getSync(&sync, slave.position, i);
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cout << " {" << dec << i << ", "
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<< (sync.control_register & 0x04 ? 0 : 1) << ", {" << endl;
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for (j = 0; j < sync.pdo_count; j++) {
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m.getPdo(&pdo, slave.position, i, j);
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cout << " {hex2dec('" <<
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hex << setfill('0') << setw(4) << pdo.index << "'), ["
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<< endl;
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for (k = 0; k < pdo.entry_count; k++) {
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m.getPdoEntry(&entry, slave.position, i, j, k);
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cout << " hex2dec('"
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<< hex << setfill('0') << setw(4) << entry.index
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<< "'), hex2dec('"
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<< setw(2) << (unsigned int) entry.subindex
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<< "'), " << dec << setfill(' ') << setw(3)
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<< (unsigned int) entry.bit_length
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<< "; ..." << endl;
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}
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cout << " ]}, ..." << endl;
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}
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cout << " }}, ..." << endl;
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}
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cout << " };" << endl << endl;
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cout << "% Port configuration" << endl << endl;
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unsigned int input = 1, output = 1;
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for (i = 0; i < slave.sync_count; i++) {
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m.getSync(&sync, slave.position, i);
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for (j = 0; j < sync.pdo_count; j++) {
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m.getPdo(&pdo, slave.position, i, j);
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for (k = 0; k < pdo.entry_count; k++) {
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m.getPdoEntry(&entry, slave.position, i, j, k);
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if (!entry.index) {
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continue;
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}
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string dir;
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unsigned int port;
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if (sync.control_register & 0x04) {
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dir = "input";
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port = input++;
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}
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else {
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dir = "output";
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port = output++;
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}
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stringstream var;
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var << "rv.PortConfig." << dir << "(" << dec << port
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<< ")";
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cout << var.str() << ".pdo = ["
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<< i << ", " << j << ", " << k << ", 0];" << endl;
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cout << var.str() << ".pdo_data_type = uint("
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<< (unsigned int) entry.bit_length
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<< ");" << endl << endl;
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}
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}
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}
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cout << "end" << endl;
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}
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/****************************************************************************/
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