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ethercat
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Added configuration listing command.

This commit is contained in:
Florian Pose 2008-06-27 09:31:20 +00:00
parent 5e4ed4b154
commit 00d5bfb06b
4 changed files with 187 additions and 88 deletions
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6
TODO
View File

@ -9,16 +9,15 @@ $Id$
Version 1.4.0:
* Move EC_NUM_SYNCS define to ecrt.h.
* Read Pdo mapping for unknown Pdos.
* Read Pdo mapping for unknown Pdos before configuring it.
* Attach Pdo names from SII or Coe dictioary to Pdos read via CoE.
* Make scanning and configuration run parallel (each).
* Adapt remaining examples.
* READMEs for examples.
* Update documentation.
* ethercat 'list_config'
* Stop master thread at ecrt_master_request().
* Overthink display style of hex numbers.
* Remove #x:y alias output.
* Add -a and -p switches for 'ethercat config' command.
* Race in jiffies frame timeout.
* FoE
* Allow master requesting when in ORPHANED phase
@ -42,6 +41,7 @@ Future issues:
Smaller issues:
* Stop master thread at ecrt_master_request() to get rid of allow_* flags.
* Evaluate SII Size field (0x003E) to determine maximum SII memory size.
* Unite fsm_pdo_mapping, fsm_pdo_config and fsm_coe_map.
* Clear sync managers in INIT.

263
tools/Master.cpp
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@ -173,91 +173,14 @@ void Master::writeAlias(
/*****************************************************************************/
/**
* Lists the bus configuration.
/** Lists the bus configuration.
*/
void Master::showConfig()
void Master::showConfigs(bool verbose)
{
ec_ioctl_master_t master;
unsigned int i, j, k, l;
ec_ioctl_config_t config;
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
open(Read);
getMaster(&master);
for (i = 0; i < master.config_count; i++) {
getConfig(&config, i);
cout << "Alias: 0x"
<< hex << setfill('0') << setw(4) << config.alias << endl
<< "Position: " << dec << config.position << endl
<< "Vendor Id: 0x"
<< hex << setw(8) << config.vendor_id << endl
<< "Product code: 0x"
<< hex << setw(8) << config.product_code << endl
<< "Attached: " << (config.attached ? "yes" : "no") << endl
<< "Operational: " << (config.operational ? "yes" : "no") << endl;
for (j = 0; j < 16; j++) {
if (config.syncs[j].pdo_count) {
cout << "SM" << dec << j << " ("
<< (config.syncs[j].dir == EC_DIR_INPUT
? "Input" : "Output") << ")" << endl;
for (k = 0; k < config.syncs[j].pdo_count; k++) {
getConfigPdo(&pdo, i, j, k);
cout << " Pdo 0x"
<< hex << setfill('0') << setw(4) << pdo.index
<< " \"" << pdo.name << "\"" << endl;
for (l = 0; l < pdo.entry_count; l++) {
getConfigPdoEntry(&entry, i, j, k, l);
cout << " Pdo entry 0x"
<< hex << setfill('0') << setw(4) << entry.index
<< ":" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
<< " bit, \"" << entry.name << "\"" << endl;
}
}
}
}
if (config.sdo_count) {
cout << "Sdo configuration:" << endl;
for (j = 0; j < config.sdo_count; j++) {
getConfigSdo(&sdo, i, j);
cout << " 0x"
<< hex << setfill('0') << setw(4) << sdo.index
<< ":" << setw(2) << (unsigned int) sdo.subindex
<< ", " << sdo.size << " byte: " << hex;
switch (sdo.size) {
case 1:
cout << "0x" << setw(2)
<< (unsigned int) *(uint8_t *) &sdo.data;
break;
case 2:
cout << "0x" << setw(4)
<< le16tocpu(*(uint16_t *) &sdo.data);
break;
case 4:
cout << "0x" << setw(8)
<< le32tocpu(*(uint32_t *) &sdo.data);
break;
default:
cout << "???";
}
cout << endl;
}
}
cout << endl;
if (verbose) {
showConfigs();
} else {
listConfigs();
}
}
@ -1036,6 +959,180 @@ void Master::writeSlaveAlias(
delete [] data.words;
}
/*****************************************************************************/
/** Lists the complete bus configuration.
*/
void Master::showConfigs()
{
ec_ioctl_master_t master;
unsigned int i, j, k, l;
ec_ioctl_config_t config;
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
open(Read);
getMaster(&master);
for (i = 0; i < master.config_count; i++) {
getConfig(&config, i);
cout << "Alias: 0x"
<< hex << setfill('0') << setw(4) << config.alias << endl
<< "Position: " << dec << config.position << endl
<< "Vendor Id: 0x"
<< hex << setw(8) << config.vendor_id << endl
<< "Product code: 0x"
<< hex << setw(8) << config.product_code << endl
<< "Attached: " << (config.attached ? "yes" : "no") << endl
<< "Operational: " << (config.operational ? "yes" : "no") << endl;
for (j = 0; j < 16; j++) {
if (config.syncs[j].pdo_count) {
cout << "SM" << dec << j << " ("
<< (config.syncs[j].dir == EC_DIR_INPUT
? "Input" : "Output") << ")" << endl;
for (k = 0; k < config.syncs[j].pdo_count; k++) {
getConfigPdo(&pdo, i, j, k);
cout << " Pdo 0x"
<< hex << setfill('0') << setw(4) << pdo.index
<< " \"" << pdo.name << "\"" << endl;
for (l = 0; l < pdo.entry_count; l++) {
getConfigPdoEntry(&entry, i, j, k, l);
cout << " Pdo entry 0x"
<< hex << setfill('0') << setw(4) << entry.index
<< ":" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
<< " bit, \"" << entry.name << "\"" << endl;
}
}
}
}
if (config.sdo_count) {
cout << "Sdo configuration:" << endl;
for (j = 0; j < config.sdo_count; j++) {
getConfigSdo(&sdo, i, j);
cout << " 0x"
<< hex << setfill('0') << setw(4) << sdo.index
<< ":" << setw(2) << (unsigned int) sdo.subindex
<< ", " << sdo.size << " byte: " << hex;
switch (sdo.size) {
case 1:
cout << "0x" << setw(2)
<< (unsigned int) *(uint8_t *) &sdo.data;
break;
case 2:
cout << "0x" << setw(4)
<< le16tocpu(*(uint16_t *) &sdo.data);
break;
case 4:
cout << "0x" << setw(8)
<< le32tocpu(*(uint32_t *) &sdo.data);
break;
default:
cout << "???";
}
cout << endl;
}
}
cout << endl;
}
}
/*****************************************************************************/
struct ConfigInfo {
string alias;
string pos;
string ident;
string att;
string op;
};
/** Lists the bus configuration.
*/
void Master::listConfigs()
{
ec_ioctl_master_t master;
unsigned int i;
ec_ioctl_config_t config;
stringstream str;
ConfigInfo info;
typedef list<ConfigInfo> ConfigInfoList;
ConfigInfoList list;
ConfigInfoList::const_iterator iter;
unsigned int maxAliasWidth = 0, maxPosWidth = 0,
maxAttWidth = 0, maxOpWidth = 0;
open(Read);
getMaster(&master);
for (i = 0; i < master.config_count; i++) {
getConfig(&config, i);
str << dec << config.alias;
info.alias = str.str();
str.clear();
str.str("");
str << dec << config.position;
info.pos = str.str();
str.clear();
str.str("");
str << "0x"
<< hex << setfill('0') << setw(8) << config.vendor_id
<< "/0x"
<< hex << setw(8) << config.product_code;
info.ident = str.str();
str.clear();
str.str("");
str << (config.attached ? "attached" : "-");
info.att = str.str();
str.clear();
str.str("");
str << (config.operational ? "operational" : "-");
info.op = str.str();
str.clear();
str.str("");
list.push_back(info);
if (info.alias.length() > maxAliasWidth)
maxAliasWidth = info.alias.length();
if (info.pos.length() > maxPosWidth)
maxPosWidth = info.pos.length();
if (info.att.length() > maxAttWidth)
maxAttWidth = info.att.length();
if (info.op.length() > maxOpWidth)
maxOpWidth = info.op.length();
}
for (iter = list.begin(); iter != list.end(); iter++) {
cout << setfill(' ') << right
<< setw(maxAliasWidth) << iter->alias
<< ":" << left
<< setw(maxPosWidth) << iter->pos
<< " "
<< iter->ident
<< " "
<< setw(maxAttWidth) << iter->att << " "
<< setw(maxOpWidth) << iter->op << " "
<< endl;
}
}
/****************************************************************************/
void Master::outputDomainData(unsigned int domainIndex)

4
tools/Master.h
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@ -43,7 +43,7 @@ class Master
void setIndex(unsigned int);
void writeAlias(int, bool, const vector<string> &);
void showConfig();
void showConfigs(bool);
void outputData(int);
void setDebug(const vector<string> &);
void showDomains(int);
@ -64,6 +64,8 @@ class Master
void close();
void writeSlaveAlias(uint16_t, uint16_t);
void showConfigs();
void listConfigs();
void outputDomainData(unsigned int);
void showDomain(unsigned int);
void listSlavePdos(uint16_t, bool = false, bool = false);

2
tools/main.cpp
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@ -188,7 +188,7 @@ int main(int argc, char **argv)
if (command == "alias") {
master.writeAlias(slavePosition, force, commandArgs);
} else if (command == "config") {
master.showConfig();
master.showConfigs(verbose);
} else if (command == "data") {
master.outputData(domainIndex);
} else if (command == "debug") {