mirror of
https://gitlab.com/etherlab.org/ethercat.git
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128 lines
4.2 KiB
C++
128 lines
4.2 KiB
C++
/*****************************************************************************
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*
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* $Id$
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*
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****************************************************************************/
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "globals.h"
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/****************************************************************************/
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const char *help_pdos =
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"[OPTIONS]\n"
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"\n"
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"Displays sync managers, assigned Pdos and mapped Pdo entries.\n"
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"\n"
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"The information is displayed in three layers, which are indented\n"
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"accordingly:\n"
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"\n"
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"1) Sync managers - Contains the sync manager information from the\n"
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" SII: Index, physical start address, default size (raw value from\n"
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" the SII), control register and enable word. Example:\n"
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"\n"
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" SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, Enable 1\n"
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"\n"
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"2) Assigned Pdos - Pdo direction, hexadecimal index and -if available-\n"
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" the Pdo name. Example:\n"
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"\n"
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" TxPdo 0x1a00 \"Channel1\"\n"
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"\n"
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"3) Mapped Pdo entries - Pdo entry index and subindex (both\n"
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" hexadecimal), the length in bit and -if available- the\n"
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" description. Example:\n"
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"\n"
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" Pdo entry 0x3101:01, 8 bit, \"Status\"\n"
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"\n"
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"Note, that the displayed Pdo assignment and Pdo mapping information\n"
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"can either originate from the SII or from the CoE communication area.\n"
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"\n"
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"Command-specific options:\n"
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" --slave -s <index> Positive numerical ring position, or 'all' for\n"
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" all slaves (default).\n"
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"\n"
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"Numerical values can be specified either with decimal (no prefix),\n"
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"octal (prefix '0') or hexadecimal (prefix '0x') base.\n";
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/****************************************************************************/
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void listSlavePdos(uint16_t, bool);
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/****************************************************************************/
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void command_pdos(void)
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{
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masterDev.open(MasterDevice::Read);
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if (slavePosition == -1) {
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unsigned int numSlaves = masterDev.slaveCount(), i;
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for (i = 0; i < numSlaves; i++) {
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listSlavePdos(i, true);
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}
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} else {
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listSlavePdos(slavePosition, false);
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}
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}
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/****************************************************************************/
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void listSlavePdos(uint16_t slavePosition, bool withHeader)
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{
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ec_ioctl_slave_t slave;
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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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masterDev.getSlave(&slave, slavePosition);
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if (withHeader)
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cout << "=== Slave " << slavePosition << " ===" << endl;
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for (i = 0; i < slave.sync_count; i++) {
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masterDev.getSync(&sync, slavePosition, 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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masterDev.getPdo(&pdo, slavePosition, 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 (verbosity == Quiet)
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continue;
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for (k = 0; k < pdo.entry_count; k++) {
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masterDev.getPdoEntry(&entry, slavePosition, 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 << (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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