mirror of
https://gitlab.com/etherlab.org/ethercat.git
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155 lines
4.3 KiB
C++
155 lines
4.3 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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#include <sstream>
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using namespace std;
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#include "CommandAlias.h"
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#include "sii_crc.h"
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#include "byteorder.h"
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/*****************************************************************************/
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CommandAlias::CommandAlias():
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Command("alias", "Write alias addresses.")
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{
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}
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/*****************************************************************************/
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string CommandAlias::helpString() const
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{
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stringstream str;
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str << getName() << " [OPTIONS] <ALIAS>" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "Arguments:" << endl
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<< " ALIAS must be an unsigned 16 bit number. Zero means" << endl
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<< " removing an alias address." << endl
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<< endl << endl
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<< "Command-specific options:" << endl
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<< " --slave -s <index> Positive numerical ring position, or 'all'"
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<< endl
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<< " for all slaves (default). The --force"
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<< endl
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<< " option is required in this case." << endl
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<< " --force -f Acknowledge writing aliases of all" << endl
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<< " slaves." << 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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/** Writes the Secondary slave address (alias) to the slave's SII.
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*/
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void CommandAlias::execute(MasterDevice &m, const StringVector &args)
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{
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uint16_t alias;
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stringstream err, strAlias;
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int number;
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unsigned int numSlaves, i;
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if (args.size() != 1) {
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err << "'" << getName() << "' takes exactly one argument!";
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throwInvalidUsageException(err);
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}
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strAlias << args[0];
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strAlias
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>> resetiosflags(ios::basefield) // guess base from prefix
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>> number;
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if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
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err << "Invalid alias '" << args[0] << "'!";
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throwInvalidUsageException(err);
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}
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alias = number;
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if (slavePosition == -1) {
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if (!force) {
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err << "This will write the alias addresses of all slaves to "
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<< alias << "! Please specify --force to proceed.";
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throwCommandException(err);
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}
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m.open(MasterDevice::ReadWrite);
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numSlaves = m.slaveCount();
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for (i = 0; i < numSlaves; i++) {
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writeSlaveAlias(m, i, alias);
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}
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} else {
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m.open(MasterDevice::ReadWrite);
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writeSlaveAlias(m, slavePosition, alias);
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}
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}
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/*****************************************************************************/
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/** Writes the Secondary slave address (alias) to the slave's SII.
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*/
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void CommandAlias::writeSlaveAlias(
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MasterDevice &m,
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uint16_t slavePosition,
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uint16_t alias
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)
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{
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ec_ioctl_slave_sii_t data;
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ec_ioctl_slave_t slave;
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stringstream err;
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uint8_t crc;
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m.getSlave(&slave, slavePosition);
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if (slave.sii_nwords < 8) {
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err << "Current SII contents are too small to set an alias "
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<< "(" << slave.sii_nwords << " words)!";
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throwCommandException(err);
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}
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// read first 8 SII words
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data.slave_position = slavePosition;
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data.offset = 0;
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data.nwords = 8;
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data.words = new uint16_t[data.nwords];
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try {
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m.readSii(&data);
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} catch (MasterDeviceException &e) {
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delete [] data.words;
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err << "Failed to read SII: " << e.what();
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throwCommandException(err);
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}
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// write new alias address in word 4
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data.words[4] = cputole16(alias);
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// calculate checksum over words 0 to 6
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crc = calcSiiCrc((const uint8_t *) data.words, 14);
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// write new checksum into first byte of word 7
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*(uint8_t *) (data.words + 7) = crc;
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// write first 8 words with new alias and checksum
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try {
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m.writeSii(&data);
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} catch (MasterDeviceException &e) {
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delete [] data.words;
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err << "Failed to read SII: " << e.what();
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throwCommandException(err);
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}
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delete [] data.words;
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}
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/*****************************************************************************/
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