mirror of
https://gitlab.com/etherlab.org/ethercat.git
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142 lines
4.6 KiB
C++
142 lines
4.6 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 "CommandPdos.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
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{
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stringstream str;
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str << getName() << " [OPTIONS]" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "The information 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 avaliable. 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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<< "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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<< 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(MasterDevice &m, const StringVector &args)
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{
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SlaveList slaves;
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SlaveList::const_iterator si;
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bool showHeader;
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m.open(MasterDevice::Read);
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slaves = selectedSlaves(m);
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showHeader = 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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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)
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cout << "=== 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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