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ethercat
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Removed tabulators.

This commit is contained in:
Florian Pose 2010-02-05 10:29:47 +01:00
parent 0f104bbc83
commit a144042657
50 changed files with 682 additions and 673 deletions
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40
documentation/graphs/fsm_change.dot
View File

@ -3,32 +3,32 @@
digraph change {
start [fontname="Helvetica"]
start -> check [weight=5]
start [fontname="Helvetica"]
start -> check [weight=5]
check [fontname="Helvetica"]
check -> status [weight=5]
check -> error [fontname="Helvetica", label="Response\ntimeout"]
check [fontname="Helvetica"]
check -> status [weight=5]
check -> error [fontname="Helvetica", label="Response\ntimeout"]
status [fontname="Helvetica"]
status -> end [fontname="Helvetica", label="Success", weight=5]
status -> code [fontname="Helvetica", label="Refuse", weight=5]
status -> error [fontname="Helvetica", label="Change\ntimeout"]
status [fontname="Helvetica"]
status -> end [fontname="Helvetica", label="Success", weight=5]
status -> code [fontname="Helvetica", label="Refuse", weight=5]
status -> error [fontname="Helvetica", label="Change\ntimeout"]
code [fontname="Helvetica"]
code -> ack [weight=2]
code [fontname="Helvetica"]
code -> ack [weight=2]
start_ack [fontname="Helvetica"]
start_ack -> ack [fontname="Helvetica", label="Ack only"]
start_ack [fontname="Helvetica"]
start_ack -> ack [fontname="Helvetica", label="Ack only"]
ack [fontname="Helvetica"]
ack -> check_ack [weight=2]
ack [fontname="Helvetica"]
ack -> check_ack [weight=2]
check_ack [fontname="Helvetica"]
check_ack -> end [fontname="Helvetica", label="Ack only"]
check_ack -> error [weight=2]
check_ack [fontname="Helvetica"]
check_ack -> end [fontname="Helvetica", label="Ack only"]
check_ack -> error [weight=2]
end [fontname="Helvetica"]
end [fontname="Helvetica"]
error [fontname="Helvetica"]
error [fontname="Helvetica"]
}

2
documentation/graphs/fsm_master.dot
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@ -4,7 +4,7 @@
digraph master {
size="7,9"
center=1
ratio=fill
ratio=fill
start [fontname="Helvetica"]
start -> broadcast [weight=10]

14
documentation/graphs/fsm_pdo_entry_conf.dot
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@ -3,23 +3,23 @@
digraph pdo_entry_conf {
start [fontname="Helvetica"]
start [fontname="Helvetica"]
start -> zero_entry_count [weight=10]
zero_entry_count [fontname="Helvetica"]
zero_entry_count [fontname="Helvetica"]
zero_entry_count -> end [fontname="Helvetica",label="No Entries"]
zero_entry_count -> action_map [fontname="Helvetica",label="Add first entry", weight=10]
action_map [shape=point,label=""]
action_map -> map_entry [weight=10]
action_map -> map_entry [weight=10]
map_entry [fontname="Helvetica"]
map_entry [fontname="Helvetica"]
map_entry -> action_map [fontname="Helvetica",label="Next entry"]
map_entry -> set_entry_count [fontname="Helvetica",label="No more Entries", weight=10]
set_entry_count [fontname="Helvetica"]
set_entry_count [fontname="Helvetica"]
set_entry_count -> end [weight=10]
end [fontname="Helvetica"]
end
end [fontname="Helvetica"]
end
}

10
documentation/graphs/fsm_pdo_entry_read.dot
View File

@ -3,17 +3,17 @@
digraph pdo_entry_read {
start [fontname="Helvetica"]
start [fontname="Helvetica"]
start -> count [weight=5]
count [fontname="Helvetica"]
count -> action_next [weight=5]
count [fontname="Helvetica"]
count -> action_next [weight=5]
action_next [shape=point,label=""]
action_next -> pdo_entry [fontname="Helvetica", label="Next entry", weight=5]
action_next -> end [fontname="Helvetica", label="No more entries"]
action_next -> end [fontname="Helvetica", label="No more entries"]
pdo_entry [fontname="Helvetica"]
pdo_entry [fontname="Helvetica"]
pdo_entry -> action_next
end [fontname="Helvetica"]

12
documentation/graphs/fsm_pdo_read.dot
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@ -3,25 +3,25 @@
digraph pdo_read {
start [fontname="Helvetica"]
start [fontname="Helvetica"]
start -> action_next_sync [fontname="Helvetica", label="First SM", weight=5]
action_next_sync [shape=point,label=""]
action_next_sync -> pdo_count [weight=5]
action_next_sync -> end
pdo_count [fontname="Helvetica"]
pdo_count [fontname="Helvetica"]
pdo_count -> action_next_pdo [weight=5]
action_next_pdo [shape=point,label=""]
action_next_pdo -> pdo [fontname="Helvetica", label="Next PDO", weight=5]
action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more PDOs"]
action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more PDOs"]
pdo [fontname="Helvetica"]
pdo [fontname="Helvetica"]
pdo -> pdo_entries [weight=5]
pdo_entries [fontname="Helvetica"]
pdo_entries [fontname="Helvetica"]
pdo_entries -> action_next_pdo
end [fontname="Helvetica"]
end [fontname="Helvetica"]
}

40
documentation/graphs/fsm_sii.dot
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@ -3,31 +3,31 @@
digraph sii {
start_reading [fontname="Helvetica"]
start_reading -> read_check [weight=5]
start_reading [fontname="Helvetica"]
start_reading -> read_check [weight=5]
read_check [fontname="Helvetica"]
read_check -> error
read_check -> read_fetch [weight=5]
read_check [fontname="Helvetica"]
read_check -> error
read_check -> read_fetch [weight=5]
read_fetch [fontname="Helvetica"]
read_fetch -> error
read_fetch -> end [weight=5]
read_fetch -> read_fetch
read_fetch [fontname="Helvetica"]
read_fetch -> error
read_fetch -> end [weight=5]
read_fetch -> read_fetch
start_writing [fontname="Helvetica"]
start_writing -> write_check [weight=5]
start_writing [fontname="Helvetica"]
start_writing -> write_check [weight=5]
write_check [fontname="Helvetica"]
write_check -> error
write_check -> write_check2 [weight=5]
write_check [fontname="Helvetica"]
write_check -> error
write_check -> write_check2 [weight=5]
write_check2 [fontname="Helvetica"]
write_check2 -> error
write_check2 -> end [weight=5]
write_check2 -> write_check2
write_check2 [fontname="Helvetica"]
write_check2 -> error
write_check2 -> end [weight=5]
write_check2 -> write_check2
end [fontname="Helvetica"]
end [fontname="Helvetica"]
error [fontname="Helvetica"]
error [fontname="Helvetica"]
}

6
examples/dc_user/main.c
View File

@ -193,13 +193,13 @@ void signal_handler(int signum) {
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
return -1;
if (!master)
return -1;
domain1 = ecrt_master_create_domain(master);
if (!domain1)

28
include/ecrt.h
View File

@ -217,7 +217,7 @@ typedef struct {
typedef struct {
unsigned int slave_count; /**< Number of slaves in the bus. */
unsigned int link_up : 1; /**< \a true, if the network link is up. */
uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
uint64_t app_time; /**< Application time. */
} ec_master_info_t;
@ -426,8 +426,8 @@ ec_master_t *ecrt_request_master(
* \return Pointer to the opened master, otherwise \a NULL.
*/
ec_master_t *ecrt_open_master(
unsigned int master_index /**< Index of the master to request. */
);
unsigned int master_index /**< Index of the master to request. */
);
#endif // #ifndef __KERNEL__
@ -455,8 +455,8 @@ void ecrt_release_master(
*
*/
int ecrt_master_reserve(
ec_master_t *master /**< EtherCAT master */
);
ec_master_t *master /**< EtherCAT master */
);
#endif // #ifndef __KERNEL__
@ -545,10 +545,10 @@ ec_slave_config_t *ecrt_master_slave_config(
* \return 0 in case of success, else < 0
*/
int ecrt_master(
ec_master_t *master, /**< EtherCAT master */
ec_master_info_t *master_info /**< Structure that will output the
information */
);
ec_master_t *master, /**< EtherCAT master */
ec_master_info_t *master_info /**< Structure that will output the
information */
);
/** Obtains slave information.
*
@ -700,7 +700,7 @@ void ecrt_master_deactivate(
*/
int ecrt_master_set_send_interval(
ec_master_t *master, /**< EtherCAT master. */
size_t send_interval /**< Send interval in us */
size_t send_interval /**< Send interval in us */
);
/** Sends all datagrams in the queue.
@ -1001,13 +1001,13 @@ int ecrt_slave_config_reg_pdo_entry(
* if the slave shall be operated without distributed clocks (default).
*/
void ecrt_slave_config_dc(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t assign_activate, /**< AssignActivate word. */
uint32_t sync0_cycle, /**< SYNC0 cycle time [ns]. */
uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
uint32_t sync0_shift, /**< SYNC0 shift time [ns]. */
uint32_t sync1_cycle, /**< SYNC1 cycle time [ns]. */
uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
);
uint32_t sync1_shift /**< SYNC1 shift time [ns]. */
);
/** Add an SDO configuration.
*

14
lib/master.c
View File

@ -165,7 +165,7 @@ int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, ec_sync_info_t *sync)
{
ec_ioctl_slave_sync_t data;
ec_ioctl_slave_sync_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@ -181,7 +181,7 @@ int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
}
sync->index = sync_index;
sync->dir = EC_READ_BIT(&data.control_register, 2) ?
sync->dir = EC_READ_BIT(&data.control_register, 2) ?
EC_DIR_OUTPUT : EC_DIR_INPUT;
sync->n_pdos = data.pdo_count;
sync->pdos = NULL;
@ -196,7 +196,7 @@ int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
{
ec_ioctl_slave_sync_pdo_t data;
ec_ioctl_slave_sync_pdo_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@ -225,7 +225,7 @@ int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
ec_pdo_entry_info_t *entry)
{
ec_ioctl_slave_sync_pdo_entry_t data;
ec_ioctl_slave_sync_pdo_entry_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@ -349,9 +349,9 @@ void ecrt_master_deactivate(ec_master_t *master)
int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us)
{
if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
&send_interval_us) == -1) {
fprintf(stderr, "Failed to set send interval: %s\n",
if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
&send_interval_us) == -1) {
fprintf(stderr, "Failed to set send interval: %s\n",
strerror(errno));
return -1; // FIXME
}

11
master/cdev.c
View File

@ -1684,15 +1684,16 @@ int ec_cdev_ioctl_set_send_interval(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
size_t send_interval;
size_t send_interval;
if (copy_from_user(&send_interval, (void __user *) arg, sizeof(send_interval))) {
if (copy_from_user(&send_interval, (void __user *) arg,
sizeof(send_interval))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
ec_master_set_send_interval(master,send_interval);
ec_master_set_send_interval(master,send_interval);
up(&master->master_sem);
return 0;
@ -3492,10 +3493,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_voe_exec(master, arg, priv);
case EC_IOCTL_VOE_DATA:
return ec_cdev_ioctl_voe_data(master, arg, priv);
case EC_IOCTL_SET_SEND_INTERVAL:
case EC_IOCTL_SET_SEND_INTERVAL:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_set_send_interval(master,arg,priv);
return ec_cdev_ioctl_set_send_interval(master,arg,priv);
default:
return -ENOTTY;
}

14
master/fsm_master.c
View File

@ -471,14 +471,14 @@ void ec_fsm_master_action_idle(
if (ec_fsm_master_action_process_sdo(fsm))
return;
// enable processing of SDO/FOE requests
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_fsm_slave_ready(&slave->fsm);
}
// enable processing of SDO/FOE requests
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
ec_fsm_slave_ready(&slave->fsm);
}
// check, if slaves have an SDO dictionary to read out.
// check, if slaves have an SDO dictionary to read out.
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {

122
master/fsm_slave.c
View File

@ -62,9 +62,11 @@ void ec_fsm_slave_init(
fsm->slave = slave;
fsm->datagram = datagram;
fsm->datagram->data_size = 0;
if (slave->master->debug_level)
EC_DBG("init fsm for slave %u...\n",slave->ring_position);
fsm->state = ec_fsm_slave_state_idle;
if (slave->master->debug_level)
EC_DBG("Init FSM for slave %u...\n", slave->ring_position);
fsm->state = ec_fsm_slave_state_idle;
// init sub-state-machines
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
@ -112,16 +114,17 @@ void ec_fsm_slave_exec(
*
*/
void ec_fsm_slave_ready(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
if (fsm->state == ec_fsm_slave_state_idle) {
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u ready for SDO/FOE.\n",fsm->slave->ring_position);
}
fsm->state = ec_fsm_slave_state_ready;
}
return;
if (fsm->state == ec_fsm_slave_state_idle) {
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u ready for SDO/FOE.\n",
fsm->slave->ring_position);
}
fsm->state = ec_fsm_slave_state_ready;
}
return;
}
/******************************************************************************
@ -135,10 +138,10 @@ void ec_fsm_slave_ready(
*
*/
void ec_fsm_slave_state_idle(
ec_fsm_slave_t *fsm /**< Slave state machine. */
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
// do nothing
// do nothing
}
@ -149,19 +152,18 @@ void ec_fsm_slave_state_idle(
*
*/
void ec_fsm_slave_state_ready(
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
ec_fsm_slave_t *fsm /**< Slave state machine. */
)
{
// Check for pending external SDO requests
if (ec_fsm_slave_action_process_sdo(fsm))
return;
// Check for pending FOE requests
if (ec_fsm_slave_action_process_foe(fsm))
return;
// Check for pending external SDO requests
if (ec_fsm_slave_action_process_sdo(fsm))
return;
// Check for pending FOE requests
if (ec_fsm_slave_action_process_foe(fsm))
return;
}
/*****************************************************************************/
/** Check for pending SDO requests and process one.
@ -180,25 +182,27 @@ int ec_fsm_slave_action_process_sdo(
list_for_each_entry_safe(request, next, &slave->slave_sdo_requests, list) {
list_del_init(&request->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Aborting SDO request, slave %u has ERROR.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_WARN("Aborting SDO request, slave %u is in INIT.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
request->req.state = EC_INT_REQUEST_BUSY;
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Aborting SDO request, slave %u has ERROR.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_WARN("Aborting SDO request, slave %u is in INIT.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
request->req.state = EC_INT_REQUEST_BUSY;
// Found pending SDO request. Execute it!
if (master->debug_level)
@ -233,20 +237,20 @@ int ec_fsm_slave_action_process_foe(
// search the first request to be processed
list_for_each_entry_safe(request, next, &slave->foe_requests, list) {
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
list_del_init(&request->list); // dequeue
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
EC_WARN("Aborting FOE request, slave %u has ERROR.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return 0;
}
list_del_init(&request->list); // dequeue
request->req.state = EC_INT_REQUEST_BUSY;
if (master->debug_level)
EC_DBG("Processing FOE request for slave %u.\n",
EC_DBG("Processing FOE request for slave %u.\n",
slave->ring_position);
fsm->foe_request = &request->req;
@ -282,9 +286,9 @@ void ec_fsm_slave_state_sdo_request(
EC_DBG("Failed to process SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_idle;
return;
}
@ -297,10 +301,9 @@ void ec_fsm_slave_state_sdo_request(
wake_up(&slave->sdo_queue);
fsm->sdo_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
fsm->state = ec_fsm_slave_state_ready;
}
/*****************************************************************************/
/** Slave state: FOE REQUEST.
@ -338,6 +341,7 @@ void ec_fsm_slave_state_foe_request(
wake_up(&slave->foe_queue);
fsm->foe_request = NULL;
fsm->state = ec_fsm_slave_state_ready;
fsm->state = ec_fsm_slave_state_ready;
}
/*****************************************************************************/

2
master/fsm_slave_scan.c
View File

@ -753,7 +753,7 @@ void ec_fsm_slave_scan_enter_regalias(
*/
void ec_fsm_slave_scan_state_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;

62
master/master.c
View File

@ -795,35 +795,35 @@ void ec_master_queue_external_datagram(
ec_datagram_t *datagram /**< datagram */
)
{
ec_datagram_t *queued_datagram;
ec_datagram_t *queued_datagram;
down(&master->io_sem);
// check, if the datagram is already queued
list_for_each_entry(queued_datagram, &master->external_datagram_queue,
// check, if the datagram is already queued
list_for_each_entry(queued_datagram, &master->external_datagram_queue,
queue) {
if (queued_datagram == datagram) {
datagram->state = EC_DATAGRAM_QUEUED;
return;
}
}
if (queued_datagram == datagram) {
datagram->state = EC_DATAGRAM_QUEUED;
return;
}
}
#if DEBUG_INJECT
if (master->debug_level) {
EC_DBG("Requesting external datagram %p size=%u\n",
if (master->debug_level) {
EC_DBG("Requesting external datagram %p size=%u\n",
datagram, datagram->data_size);
}
}
#endif
list_add_tail(&datagram->queue, &master->external_datagram_queue);
datagram->state = EC_DATAGRAM_QUEUED;
list_add_tail(&datagram->queue, &master->external_datagram_queue);
datagram->state = EC_DATAGRAM_QUEUED;
#ifdef EC_HAVE_CYCLES
datagram->cycles_sent = get_cycles();
datagram->cycles_sent = get_cycles();
#endif
datagram->jiffies_sent = jiffies;
datagram->jiffies_sent = jiffies;
master->fsm.idle = 0;
up(&master->io_sem);
master->fsm.idle = 0;
up(&master->io_sem);
}
/*****************************************************************************/
@ -876,7 +876,7 @@ void ec_master_queue_datagram_ext(
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
size_t datagram_size;
size_t datagram_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
#ifdef EC_HAVE_CYCLES
@ -1222,13 +1222,13 @@ static int ec_master_idle_thread(void *priv_data)
ec_master_t *master = (ec_master_t *) priv_data;
ec_slave_t *slave = NULL;
int fsm_exec;
size_t sent_bytes;
size_t sent_bytes;
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
ec_master_set_send_interval(master, 1000000 / HZ);
if (master->debug_level)
EC_DBG("Idle thread running with send interval = %d us,"
if (master->debug_level)
EC_DBG("Idle thread running with send interval = %d us,"
" max data size=%d\n", master->send_interval,
master->max_queue_size);
@ -1259,20 +1259,20 @@ static int ec_master_idle_thread(void *priv_data)
}
ec_master_inject_external_datagrams(master);
ecrt_master_send(master);
sent_bytes = master->main_device.tx_skb[
sent_bytes = master->main_device.tx_skb[
master->main_device.tx_ring_index]->len;
up(&master->io_sem);
if (ec_fsm_master_idle(&master->fsm)) {
if (ec_fsm_master_idle(&master->fsm)) {
#ifdef EC_USE_HRTIMER
ec_master_nanosleep(master->send_interval * 1000);
ec_master_nanosleep(master->send_interval * 1000);
#else
set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(1);
#endif
} else {
#ifdef EC_USE_HRTIMER
ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
#else
schedule();
#endif
@ -1296,7 +1296,7 @@ static int ec_master_operation_thread(void *priv_data)
int fsm_exec;
if (master->debug_level)
EC_DBG("Operation thread running with fsm interval = %d us,"
EC_DBG("Operation thread running with fsm interval = %d us,"
" max data size=%d\n",
master->send_interval,
master->max_queue_size);
@ -1326,8 +1326,8 @@ static int ec_master_operation_thread(void *priv_data)
}
#ifdef EC_USE_HRTIMER
// the op thread should not work faster than the sending RT thread
ec_master_nanosleep(master->send_interval * 1000);
// the op thread should not work faster than the sending RT thread
ec_master_nanosleep(master->send_interval * 1000);
#else
if (ec_fsm_master_idle(&master->fsm)) {
set_current_state(TASK_INTERRUPTIBLE);
@ -1337,7 +1337,7 @@ static int ec_master_operation_thread(void *priv_data)
schedule();
}
#endif
}
}
if (master->debug_level)
EC_DBG("Master OP thread exiting...\n");
@ -2072,7 +2072,7 @@ void ecrt_master_send(ec_master_t *master)
}
// send frames
ec_master_send_datagrams(master);
ec_master_send_datagrams(master);
}
/*****************************************************************************/

2
master/master.h
View File

@ -155,7 +155,7 @@ struct ec_master {
ext_datagram_queue. */
struct list_head external_datagram_queue; /**< External Datagram queue. */
size_t send_interval; /* interval between calls to ecrt_master_send */
size_t send_interval; /* interval between calls to ecrt_master_send */
size_t max_queue_size; /** max. size of datagram queue */
struct list_head domains; /**< List of domains. */

6
script/ifup-eoe.sh
View File

@ -27,6 +27,8 @@
# technology and brand is only permitted in compliance with the industrial
# property and similar rights of Beckhoff Automation GmbH.
#
# vim: expandtab
#
#------------------------------------------------------------------------------
# this ifup.d script adds special network interfaces to a network bridge
@ -47,8 +49,8 @@ fi
# does the EoE bridge already exist?
if ! ${BRCTL} show | grep -q "^${BRNAME}"; then
${LOGGER} Creating ${BRNAME}
${BRCTL} addbr ${BRNAME} # create it
${LOGGER} Creating ${BRNAME}
${BRCTL} addbr ${BRNAME} # create it
fi
${LOGGER} Adding ${IFNAME} to ${BRNAME}

6
script/init.d/ethercat.in
View File

@ -29,6 +29,8 @@
# technology and brand is only permitted in compliance with the industrial
# property and similar rights of Beckhoff Automation GmbH.
#
# vim: expandtab
#
#------------------------------------------------------------------------------
### BEGIN INIT INFO
@ -58,9 +60,9 @@ ETHERCAT_CONFIG=/etc/sysconfig/ethercat
if [ ! -r ${ETHERCAT_CONFIG} ]; then
echo ${ETHERCAT_CONFIG} not existing;
if [ "${1}" = "stop" ]; then
exit 0
exit 0
else
exit 6
exit 6
fi
fi

30
tool/Command.cpp
View File

@ -48,49 +48,49 @@ Command::~Command()
void Command::setVerbosity(Verbosity v)
{
verbosity = v;
verbosity = v;
};
/*****************************************************************************/
void Command::setAlias(int a)
{
alias = a;
alias = a;
};
/*****************************************************************************/
void Command::setPosition(int p)
{
position = p;
position = p;
};
/*****************************************************************************/
void Command::setDomain(int d)
{
domain = d;
domain = d;
};
/*****************************************************************************/
void Command::setDataType(const string &t)
{
dataType = t;
dataType = t;
};
/*****************************************************************************/
void Command::setForce(bool f)
{
force = f;
force = f;
};
/*****************************************************************************/
void Command::setOutputFile(const string &f)
{
outputFile = f;
outputFile = f;
};
/****************************************************************************/
@ -279,25 +279,25 @@ Command::ConfigList Command::selectedConfigs(MasterDevice &m)
Command::DomainList Command::selectedDomains(MasterDevice &m)
{
ec_ioctl_domain_t d;
DomainList list;
ec_ioctl_domain_t d;
DomainList list;
if (domain == -1) {
ec_ioctl_master_t master;
ec_ioctl_master_t master;
unsigned int i;
m.getMaster(&master);
for (i = 0; i < master.domain_count; i++) {
m.getDomain(&d, i);
list.push_back(d);
m.getDomain(&d, i);
list.push_back(d);
}
} else {
m.getDomain(&d, domain);
list.push_back(d);
m.getDomain(&d, domain);
list.push_back(d);
}
return list;
return list;
}
/****************************************************************************/

24
tool/Command.h
View File

@ -71,7 +71,7 @@ class Command
{
public:
Command(const string &, const string &);
virtual ~Command();
virtual ~Command();
const string &getName() const;
const string &getBriefDescription() const;
@ -82,7 +82,7 @@ class Command
Verbose
};
void setVerbosity(Verbosity);
Verbosity getVerbosity() const;
Verbosity getVerbosity() const;
void setAlias(int);
int getAlias() const;
void setPosition(int);
@ -91,10 +91,10 @@ class Command
int getDomain() const;
void setDataType(const string &);
const string &getDataType() const;
void setForce(bool);
bool getForce() const;
void setOutputFile(const string &);
const string &getOutputFile() const;
void setForce(bool);
bool getForce() const;
void setOutputFile(const string &);
const string &getOutputFile() const;
bool matchesSubstr(const string &) const;
bool matchesAbbrev(const string &) const;
@ -107,7 +107,7 @@ class Command
static string numericInfo();
protected:
enum {BreakAfterBytes = 16};
enum {BreakAfterBytes = 16};
void throwInvalidUsageException(const stringstream &) const;
void throwCommandException(const stringstream &) const;
@ -123,15 +123,15 @@ class Command
static string alStateString(uint8_t);
private:
string name;
string name;
string briefDesc;
Verbosity verbosity;
int alias;
int position;
int domain;
string dataType;
bool force;
string outputFile;
int domain;
string dataType;
bool force;
string outputFile;
Command();
};

2
tool/CommandCStruct.cpp
View File

@ -53,7 +53,7 @@ string CommandCStruct::helpString() const
<< endl
<< "The output C code can be used directly with the" << endl
<< "ecrt_slave_config_pdos() function of the application" << endl
<< "interface." << endl
<< "interface." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl

58
tool/CommandConfig.cpp
View File

@ -49,28 +49,28 @@ string CommandConfig::helpString() const
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Without the --verbose option, slave configurations are" << endl
<< "output one-per-line. Example:" << endl
<< endl
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl
<< "| | | |" << endl
<< "| | | \\- Application-layer" << endl
<< "| | | state of the attached" << endl
<< "| | | slave, or '-', if no" << endl
<< "| | | slave is attached." << endl
<< "| | \\- Absolute decimal ring" << endl
<< "| | position of the attached" << endl
<< "| | slave, or '-' if none" << endl
<< "| | attached." << endl
<< "| \\- Expected vendor ID and product code (both" << endl
<< "| hexadecimal)." << endl
<< "\\- Alias address and relative position (both decimal)." << endl
<< endl
<< "With the --verbose option given, the configured PDOs and" << endl
<< "SDOs are output in addition." << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Without the --verbose option, slave configurations are" << endl
<< "output one-per-line. Example:" << endl
<< endl
<< "1001:0 0x0000003b/0x02010000 3 OP" << endl
<< "| | | |" << endl
<< "| | | \\- Application-layer" << endl
<< "| | | state of the attached" << endl
<< "| | | slave, or '-', if no" << endl
<< "| | | slave is attached." << endl
<< "| | \\- Absolute decimal ring" << endl
<< "| | position of the attached" << endl
<< "| | slave, or '-' if none" << endl
<< "| | attached." << endl
<< "| \\- Expected vendor ID and product code (both" << endl
<< "| hexadecimal)." << endl
<< "\\- Alias address and relative position (both decimal)." << endl
<< endl
<< "With the --verbose option given, the configured PDOs and" << endl
<< "SDOs are output in addition." << endl
<< endl
<< "Configuration selection:" << endl
<< " Slave configurations can be selected with" << endl
@ -86,15 +86,15 @@ string CommandConfig::helpString() const
<< " 4) If both the --alias and the --position option are" << endl
<< " given, the selection can match a single" << endl
<< " configuration, that is displayed, if it exists." << endl
<< endl
<< "Command-specific options:" << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias> Configuration alias (see above)." << endl
<< " --position -p <pos> Relative position (see above)." << endl
<< " --verbose -v Show detailed configurations." << endl
<< " --verbose -v Show detailed configurations." << endl
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/*****************************************************************************/
@ -126,9 +126,9 @@ void CommandConfig::execute(MasterDevice &m, const StringVector &args)
/** Lists the complete bus configuration.
*/
void CommandConfig::showDetailedConfigs(
MasterDevice &m,
const ConfigList &configList
)
MasterDevice &m,
const ConfigList &configList
)
{
ConfigList::const_iterator configIter;
unsigned int i, j, k, l;

20
tool/CommandConfig.h
View File

@ -46,17 +46,17 @@ class CommandConfig:
string helpString() const;
void execute(MasterDevice &, const StringVector &);
protected:
struct Info {
string alias;
string pos;
string ident;
string slavePos;
string state;
};
protected:
struct Info {
string alias;
string pos;
string ident;
string slavePos;
string state;
};
void showDetailedConfigs(MasterDevice &, const ConfigList &);
void listConfigs(MasterDevice &m, const ConfigList &);
void showDetailedConfigs(MasterDevice &, const ConfigList &);
void listConfigs(MasterDevice &m, const ConfigList &);
};
/****************************************************************************/

38
tool/CommandData.cpp
View File

@ -46,27 +46,27 @@ string CommandData::helpString() const
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Data of multiple domains are concatenated." << endl
<< endl
<< "Command-specific options:" << endl
<< " --domain -d <index> Positive numerical domain index." << endl
<< " If omitted, data of all domains" << endl
<< " are output." << endl
<< endl
<< numericInfo();
<< endl
<< "Command-specific options:" << endl
<< " --domain -d <index> Positive numerical domain index." << endl
<< " If omitted, data of all domains" << endl
<< " are output." << endl
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
void CommandData::execute(MasterDevice &m, const StringVector &args)
{
DomainList domains;
DomainList::const_iterator di;
DomainList domains;
DomainList::const_iterator di;
if (args.size()) {
stringstream err;
@ -75,19 +75,19 @@ void CommandData::execute(MasterDevice &m, const StringVector &args)
}
m.open(MasterDevice::Read);
domains = selectedDomains(m);
domains = selectedDomains(m);
for (di = domains.begin(); di != domains.end(); di++) {
outputDomainData(m, *di);
}
for (di = domains.begin(); di != domains.end(); di++) {
outputDomainData(m, *di);
}
}
/****************************************************************************/
void CommandData::outputDomainData(
MasterDevice &m,
const ec_ioctl_domain_t &domain
)
MasterDevice &m,
const ec_ioctl_domain_t &domain
)
{
ec_ioctl_domain_data_t data;
unsigned char *processData;

2
tool/CommandData.h
View File

@ -44,7 +44,7 @@ class CommandData:
void execute(MasterDevice &, const StringVector &);
protected:
void outputDomainData(MasterDevice &, const ec_ioctl_domain_t &);
void outputDomainData(MasterDevice &, const ec_ioctl_domain_t &);
};
/****************************************************************************/

28
tool/CommandDebug.cpp
View File

@ -46,21 +46,21 @@ string CommandDebug::helpString() const
{
stringstream str;
str << getName() << " <LEVEL>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Debug messages are printed to syslog." << endl
<< endl
<< "Arguments:" << endl
<< " LEVEL can have one of the following values:" << endl
<< " 0 for no debugging output," << endl
<< " 1 for some debug messages, or" << endl
<< " 2 for printing all frame contents (use with caution!)."
<< endl << endl
<< numericInfo();
str << getName() << " <LEVEL>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Debug messages are printed to syslog." << endl
<< endl
<< "Arguments:" << endl
<< " LEVEL can have one of the following values:" << endl
<< " 0 for no debugging output," << endl
<< " 1 for some debug messages, or" << endl
<< " 2 for printing all frame contents (use with caution!)."
<< endl << endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/

96
tool/CommandDomains.cpp
View File

@ -46,53 +46,53 @@ string CommandDomains::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
str << getName() << " [OPTIONS]" << endl
<< endl
<< "Without the --verbose option, the domains are displayed" << endl
<< getBriefDescription() << endl
<< endl
<< "Without the --verbose option, the domains are displayed" << endl
<< "one-per-line. Example:" << endl
<< endl
<< "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1"
<< endl << endl
<< "The domain's base address for the logical datagram" << endl
<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
<< "process data size in byte. The last values are the current" << endl
<< "datagram working counter sum and the expected working" << endl
<< "counter sum. If the values are equal, all PDOs were" << endl
<< endl
<< "Domain0: LogBaseAddr 0x00000000, Size 6, WorkingCounter 0/1"
<< endl << endl
<< "The domain's base address for the logical datagram" << endl
<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
<< "process data size in byte. The last values are the current" << endl
<< "datagram working counter sum and the expected working" << endl
<< "counter sum. If the values are equal, all PDOs were" << endl
<< "exchanged during the last cycle." << endl
<< endl
<< "If the --verbose option is given, the participating slave" << endl
<< "configurations/FMMUs and the current process data are" << endl
<< "additionally displayed:" << endl
<< endl
<< "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1"
<< endl
<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
<< endl
<< " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
<< endl
<< "The process data are displayed as hexadecimal bytes." << endl
<< endl
<< "Command-specific options:" << endl
<< " --domain -d <index> Positive numerical domain index." << endl
<< " If ommitted, all domains are" << endl
<< "If the --verbose option is given, the participating slave" << endl
<< "configurations/FMMUs and the current process data are" << endl
<< "additionally displayed:" << endl
<< endl
<< "Domain1: LogBaseAddr 0x00000006, Size 6, WorkingCounter 0/1"
<< endl
<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
<< endl
<< " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
<< endl
<< "The process data are displayed as hexadecimal bytes." << endl
<< endl
<< "Command-specific options:" << endl
<< " --domain -d <index> Positive numerical domain index." << endl
<< " If ommitted, all domains are" << endl
<< " displayed." << endl
<< endl
<< " --verbose -v Show FMMUs and process data" << endl
<< " in addition." << endl
<< endl
<< numericInfo();
<< endl
<< " --verbose -v Show FMMUs and process data" << endl
<< " in addition." << endl
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
void CommandDomains::execute(MasterDevice &m, const StringVector &args)
{
DomainList domains;
DomainList::const_iterator di;
DomainList domains;
DomainList::const_iterator di;
if (args.size()) {
stringstream err;
@ -101,19 +101,19 @@ void CommandDomains::execute(MasterDevice &m, const StringVector &args)
}
m.open(MasterDevice::Read);
domains = selectedDomains(m);
domains = selectedDomains(m);
for (di = domains.begin(); di != domains.end(); di++) {
showDomain(m, *di);
}
for (di = domains.begin(); di != domains.end(); di++) {
showDomain(m, *di);
}
}
/****************************************************************************/
void CommandDomains::showDomain(
MasterDevice &m,
const ec_ioctl_domain_t &domain
)
MasterDevice &m,
const ec_ioctl_domain_t &domain
)
{
unsigned char *processData;
ec_ioctl_domain_data_t data;
@ -121,14 +121,14 @@ void CommandDomains::showDomain(
ec_ioctl_domain_fmmu_t fmmu;
unsigned int dataOffset;
cout << "Domain" << dec << domain.index << ":"
<< " LogBaseAddr 0x"
<< hex << setfill('0')
cout << "Domain" << dec << domain.index << ":"
<< " LogBaseAddr 0x"
<< hex << setfill('0')
<< setw(8) << domain.logical_base_address
<< ", Size " << dec << setfill(' ')
<< ", Size " << dec << setfill(' ')
<< setw(3) << domain.data_size
<< ", WorkingCounter "
<< domain.working_counter << "/"
<< ", WorkingCounter "
<< domain.working_counter << "/"
<< domain.expected_working_counter << endl;
if (!domain.data_size || getVerbosity() != Verbose)

2
tool/CommandDomains.h
View File

@ -44,7 +44,7 @@ class CommandDomains:
void execute(MasterDevice &, const StringVector &);
protected:
void showDomain(MasterDevice &, const ec_ioctl_domain_t &);
void showDomain(MasterDevice &, const ec_ioctl_domain_t &);
};
/****************************************************************************/

56
tool/CommandDownload.cpp
View File

@ -47,38 +47,38 @@ string CommandDownload::helpString() const
stringstream str;
str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "The data type of the SDO entry is taken from the SDO" << endl
<< "dictionary by default. It can be overridden with the" << endl
<< "--type option. If the slave does not support the SDO" << endl
<< "information service or the SDO is not in the dictionary," << endl
<< "the --type option is mandatory." << endl
<< endl
<< "These are the valid SDO entry data types:" << endl
<< " int8, int16, int32, uint8, uint16, uint32, string," << endl
<< endl
<< "The data type of the SDO entry is taken from the SDO" << endl
<< "dictionary by default. It can be overridden with the" << endl
<< "--type option. If the slave does not support the SDO" << endl
<< "information service or the SDO is not in the dictionary," << endl
<< "the --type option is mandatory." << endl
<< endl
<< "These are the valid SDO entry data types:" << endl
<< " int8, int16, int32, uint8, uint16, uint32, string," << endl
<< " octet_string." << endl
<< endl
<< "Arguments:" << endl
<< " INDEX is the SDO index and must be an unsigned" << endl
<< " 16 bit number." << endl
<< " SUBINDEX is the SDO entry subindex and must be an" << endl
<< " unsigned 8 bit number." << endl
<< " VALUE is the value to download and must correspond" << endl
<< " to the SDO entry datatype (see above)." << endl
<< endl
<< "Command-specific options:" << endl
<< endl
<< "Arguments:" << endl
<< " INDEX is the SDO index and must be an unsigned" << endl
<< " 16 bit number." << endl
<< " SUBINDEX is the SDO entry subindex and must be an" << endl
<< " unsigned 8 bit number." << endl
<< " VALUE is the value to download and must correspond" << endl
<< " to the SDO entry datatype (see above)." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --type -t <type> SDO entry data type (see above)." << endl
<< endl
<< numericInfo();
<< " --type -t <type> SDO entry data type (see above)." << endl
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
@ -235,15 +235,15 @@ void CommandDownload::execute(MasterDevice &m, const StringVector &args)
throwInvalidUsageException(err);
}
try {
try {
m.sdoDownload(&data);
} catch (MasterDeviceSdoAbortException &e) {
} catch (MasterDeviceSdoAbortException &e) {
delete [] data.data;
err << "SDO transfer aborted with code 0x"
<< setfill('0') << hex << setw(8) << e.abortCode
<< ": " << abortText(e.abortCode);
throwCommandException(err);
} catch(MasterDeviceException &e) {
} catch(MasterDeviceException &e) {
delete [] data.data;
throw e;
}

4
tool/CommandDownload.h
View File

@ -43,8 +43,8 @@ class CommandDownload:
string helpString() const;
void execute(MasterDevice &, const StringVector &);
protected:
enum {DefaultBufferSize = 1024};
protected:
enum {DefaultBufferSize = 1024};
};
/****************************************************************************/

32
tool/CommandFoeRead.cpp
View File

@ -50,25 +50,25 @@ string CommandFoeRead::helpString() const
stringstream str;
str << getName() << " [OPTIONS] <SOURCEFILE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< endl
<< "Arguments:" << endl
<< " SOURCEFILE is the name of the source file on the slave." << endl
<< endl
<< "Command-specific options:" << endl
<< "Command-specific options:" << endl
<< " --output-file -o <file> Local target filename. If" << endl
<< " '-' (default), data are" << endl
<< " printed to stdout." << endl
<< " --alias -a <alias> " << endl
<< " --position -p <pos> Slave selection. See the help" << endl
<< " of the 'slaves' command." << endl
<< endl
<< numericInfo();
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
@ -104,9 +104,9 @@ void CommandFoeRead::execute(MasterDevice &m, const StringVector &args)
strncpy(data.file_name, args[0].c_str(), sizeof(data.file_name));
try {
m.readFoe(&data);
} catch (MasterDeviceException &e) {
try {
m.readFoe(&data);
} catch (MasterDeviceException &e) {
delete [] data.buffer;
if (data.result) {
if (data.result == FOE_OPCODE_ERROR) {
@ -121,13 +121,13 @@ void CommandFoeRead::execute(MasterDevice &m, const StringVector &args)
} else {
throw e;
}
}
}
// TODO --output-file
for (i = 0; i < data.data_size; i++) {
uint8_t *w = data.buffer + i;
cout << *(uint8_t *) w ;
}
for (i = 0; i < data.data_size; i++) {
uint8_t *w = data.buffer + i;
cout << *(uint8_t *) w ;
}
delete [] data.buffer;
}

2
tool/CommandFoeWrite.cpp
View File

@ -56,7 +56,7 @@ string CommandFoeWrite::helpString() const
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< endl
<< "Arguments:" << endl
<< " FILENAME can either be a path to a file, or '-'. In" << endl
<< " the latter case, data are read from stdin and" << endl

2
tool/CommandGraph.cpp
View File

@ -119,7 +119,7 @@ void CommandGraph::execute(MasterDevice &m, const StringVector &args)
cout << endl;
for (si = slaves.begin(); si != slaves.end(); si++) {
cout << " slave" << si->position << " [shape=\"box\""
cout << " slave" << si->position << " [shape=\"box\""
<< ",label=\"" << si->position;
if (string(si->order).size())
cout << "\\n" << si->order;

18
tool/CommandMaster.cpp
View File

@ -48,16 +48,16 @@ string CommandMaster::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Command-specific options:" << endl
<< " --master -m <index> Index of the master to use. Default: 0."
<< endl << endl
<< numericInfo();
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Command-specific options:" << endl
<< " --master -m <index> Index of the master to use. Default: 0."
<< endl << endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/

68
tool/CommandPdos.cpp
View File

@ -47,43 +47,43 @@ string CommandPdos::helpString() const
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "The information is displayed in three layers, which are" << endl
<< "indented accordingly:" << endl
<< endl
<< "1) Sync managers - Contains the sync manager information" << endl
<< " from the SII: Index, physical start address, default" << endl
<< " size, control register and enable word. Example:" << endl
<< endl
<< " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
<< "Enable 1" << endl
<< endl
<< "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
<< " the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
<< getBriefDescription() << endl
<< endl
<< "The information is displayed in three layers, which are" << endl
<< "indented accordingly:" << endl
<< endl
<< "1) Sync managers - Contains the sync manager information" << endl
<< " from the SII: Index, physical start address, default" << endl
<< " size, control register and enable word. Example:" << endl
<< endl
<< " SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
<< "Enable 1" << endl
<< endl
<< "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
<< " the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
<< " are seen from the slave's point of view. Example:" << endl
<< endl
<< " TxPDO 0x1a00 \"Channel1\"" << endl
<< endl
<< "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
<< " hexadecimal), the length in bit and the description, if" << endl
<< " available. Example:" << endl
<< endl
<< " PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
<< endl
<< "Note, that the displayed PDO assignment and PDO mapping" << endl
<< "information can either originate from the SII or from the" << endl
<< "CoE communication area." << endl
<< endl
<< "Command-specific options:" << endl
<< endl
<< " TxPDO 0x1a00 \"Channel1\"" << endl
<< endl
<< "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
<< " hexadecimal), the length in bit and the description, if" << endl
<< " available. Example:" << endl
<< endl
<< " PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
<< endl
<< "Note, that the displayed PDO assignment and PDO mapping" << endl
<< "information can either originate from the SII or from the" << endl
<< "CoE communication area." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< endl
<< numericInfo();
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
@ -112,10 +112,10 @@ void CommandPdos::execute(MasterDevice &m, const StringVector &args)
/****************************************************************************/
void CommandPdos::listSlavePdos(
MasterDevice &m,
MasterDevice &m,
const ec_ioctl_slave_t &slave,
bool showHeader
)
bool showHeader
)
{
ec_ioctl_slave_sync_t sync;
ec_ioctl_slave_sync_pdo_t pdo;

2
tool/CommandPdos.h
View File

@ -44,7 +44,7 @@ class CommandPdos:
void execute(MasterDevice &, const StringVector &);
protected:
void listSlavePdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
void listSlavePdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
};
/****************************************************************************/

26
tool/CommandRegRead.cpp
View File

@ -47,11 +47,11 @@ string CommandRegRead::helpString() const
stringstream str;
str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< endl
<< "Arguments:" << endl
<< " OFFSET is the register address. Must" << endl
<< " be an unsigned 16 bit number." << endl
@ -65,15 +65,15 @@ string CommandRegRead::helpString() const
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
<< " uint64, string, raw." << endl
<< endl
<< "Command-specific options:" << endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --type -t <type> Data type (see above)." << endl
<< endl
<< numericInfo();
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
@ -151,12 +151,12 @@ void CommandRegRead::execute(MasterDevice &m, const StringVector &args)
data.data = new uint8_t[data.length];
try {
m.readReg(&data);
} catch (MasterDeviceException &e) {
try {
m.readReg(&data);
} catch (MasterDeviceException &e) {
delete [] data.data;
throw e;
}
throw e;
}
cout << setfill('0');
if (!dataType || string(dataType->name) == "string") {

172
tool/CommandRegWrite.cpp
View File

@ -53,20 +53,20 @@ string CommandRegWrite::helpString() const
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< endl
<< "Arguments:" << endl
<< " OFFSET is the register address to write to." << endl
<< " DATA depends on whether a datatype was specified" << endl
<< " with the --type option: If not, DATA must be" << endl
<< " either a path to a file with data to write," << endl
<< " or '-', which means, that data are read from" << endl
<< " stdin. If a datatype was specified, VALUE is" << endl
<< " interpreted respective to the given type." << endl
<< " with the --type option: If not, DATA must be" << endl
<< " either a path to a file with data to write," << endl
<< " or '-', which means, that data are read from" << endl
<< " stdin. If a datatype was specified, VALUE is" << endl
<< " interpreted respective to the given type." << endl
<< endl
<< "These are the valid data types:" << endl
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
<< " uint64, string." << endl
<< endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
@ -101,93 +101,93 @@ void CommandRegWrite::execute(MasterDevice &m, const StringVector &args)
throwInvalidUsageException(err);
}
if (getDataType().empty()) {
if (args[1] == "-") {
loadRegData(&data, cin);
} else {
file.open(args[1].c_str(), ifstream::in | ifstream::binary);
if (file.fail()) {
err << "Failed to open '" << args[1] << "'!";
throwCommandException(err);
}
loadRegData(&data, file);
file.close();
}
} else {
stringstream strValue;
const DataType *dataType = findDataType(getDataType());
if (getDataType().empty()) {
if (args[1] == "-") {
loadRegData(&data, cin);
} else {
file.open(args[1].c_str(), ifstream::in | ifstream::binary);
if (file.fail()) {
err << "Failed to open '" << args[1] << "'!";
throwCommandException(err);
}
loadRegData(&data, file);
file.close();
}
} else {
stringstream strValue;
const DataType *dataType = findDataType(getDataType());
if (!dataType) {
err << "Invalid data type '" << getDataType() << "'!";
throwInvalidUsageException(err);
}
if (dataType->byteSize) {
data.length = dataType->byteSize;
data.data = new uint8_t[data.length];
}
if (dataType->byteSize) {
data.length = dataType->byteSize;
data.data = new uint8_t[data.length];
}
strValue << args[1];
strValue >> resetiosflags(ios::basefield); // guess base from prefix
strValue.exceptions(ios::failbit);
strValue << args[1];
strValue >> resetiosflags(ios::basefield); // guess base from prefix
strValue.exceptions(ios::failbit);
try {
if (string(dataType->name) == "int8") {
int16_t val; // uint8_t is interpreted as char
strValue >> val;
if (val > 127 || val < -128)
throw ios::failure("Value out of range");
*data.data = (int8_t) val;
} else if (string(dataType->name) == "int16") {
int16_t val;
strValue >> val;
*(int16_t *) data.data = cpu_to_le16(val);
} else if (string(dataType->name) == "int32") {
int32_t val;
strValue >> val;
*(int32_t *) data.data = cpu_to_le32(val);
} else if (string(dataType->name) == "int64") {
int64_t val;
strValue >> val;
*(int64_t *) data.data = cpu_to_le64(val);
} else if (string(dataType->name) == "uint8") {
uint16_t val; // uint8_t is interpreted as char
strValue >> val;
if (val > 0xff)
throw ios::failure("Value out of range");
*data.data = (uint8_t) val;
} else if (string(dataType->name) == "uint16") {
uint16_t val;
strValue >> val;
*(uint16_t *) data.data = cpu_to_le16(val);
} else if (string(dataType->name) == "uint32") {
uint32_t val;
strValue >> val;
*(uint32_t *) data.data = cpu_to_le32(val);
} else if (string(dataType->name) == "uint64") {
uint64_t val;
strValue >> val;
*(uint64_t *) data.data = cpu_to_le64(val);
} else if (string(dataType->name) == "string" ||
string(dataType->name) == "octet_string") {
data.length = strValue.str().size();
if (!data.length) {
err << "Zero-size string now allowed!";
throwCommandException(err);
}
data.data = new uint8_t[data.length];
strValue >> (char *) data.data;
} else {
err << "Invalid data type " << dataType->name;
throwCommandException(err);
}
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << args[1]
<< "' for type '" << dataType->name << "'!";
throwInvalidUsageException(err);
}
}
try {
if (string(dataType->name) == "int8") {
int16_t val; // uint8_t is interpreted as char
strValue >> val;
if (val > 127 || val < -128)
throw ios::failure("Value out of range");
*data.data = (int8_t) val;
} else if (string(dataType->name) == "int16") {
int16_t val;
strValue >> val;
*(int16_t *) data.data = cpu_to_le16(val);
} else if (string(dataType->name) == "int32") {
int32_t val;
strValue >> val;
*(int32_t *) data.data = cpu_to_le32(val);
} else if (string(dataType->name) == "int64") {
int64_t val;
strValue >> val;
*(int64_t *) data.data = cpu_to_le64(val);
} else if (string(dataType->name) == "uint8") {
uint16_t val; // uint8_t is interpreted as char
strValue >> val;
if (val > 0xff)
throw ios::failure("Value out of range");
*data.data = (uint8_t) val;
} else if (string(dataType->name) == "uint16") {
uint16_t val;
strValue >> val;
*(uint16_t *) data.data = cpu_to_le16(val);
} else if (string(dataType->name) == "uint32") {
uint32_t val;
strValue >> val;
*(uint32_t *) data.data = cpu_to_le32(val);
} else if (string(dataType->name) == "uint64") {
uint64_t val;
strValue >> val;
*(uint64_t *) data.data = cpu_to_le64(val);
} else if (string(dataType->name) == "string" ||
string(dataType->name) == "octet_string") {
data.length = strValue.str().size();
if (!data.length) {
err << "Zero-size string now allowed!";
throwCommandException(err);
}
data.data = new uint8_t[data.length];
strValue >> (char *) data.data;
} else {
err << "Invalid data type " << dataType->name;
throwCommandException(err);
}
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << args[1]
<< "' for type '" << dataType->name << "'!";
throwInvalidUsageException(err);
}
}
if ((uint32_t) data.offset + data.length > 0xffff) {
err << "Offset and length exceeding 64k!";

52
tool/CommandSdos.cpp
View File

@ -47,41 +47,41 @@ string CommandSdos::helpString() const
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "SDO dictionary information is displayed in two layers," << endl
<< "which are indented accordingly:" << endl
<< endl
<< "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl
<< endl
<< " SDO 0x1018, \"Identity object\"" << endl
<< endl
<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl
<< " hexadecimal) followed by the access rights (see" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "SDO dictionary information is displayed in two layers," << endl
<< "which are indented accordingly:" << endl
<< endl
<< "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl
<< endl
<< " SDO 0x1018, \"Identity object\"" << endl
<< endl
<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl
<< " hexadecimal) followed by the access rights (see" << endl
<< " below), the data type, the length in bit, and the" << endl
<< " description. Example:" << endl
<< endl
<< " 0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl
<< endl
<< endl
<< " 0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl
<< endl
<< "The access rights are specified for the AL states PREOP," << endl
<< "SAFEOP and OP. An 'r' means, that the entry is readable" << endl
<< "in the corresponding state, an 'w' means writable," << endl
<< "respectively. If a right is not granted, a dash '-' is" << endl
<< "shown." << endl
<< endl
<< "If the --quiet option is given, only the SDOs are output."
<< endl << endl
<< "Command-specific options:" << endl
<< "If the --quiet option is given, only the SDOs are output."
<< endl << endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --quiet -q Only output SDOs (without the" << endl
<< " SDO entries)." << endl
<< endl
<< numericInfo();
<< " --quiet -q Only output SDOs (without the" << endl
<< " SDO entries)." << endl
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
@ -110,10 +110,10 @@ void CommandSdos::execute(MasterDevice &m, const StringVector &args)
/****************************************************************************/
void CommandSdos::listSlaveSdos(
MasterDevice &m,
MasterDevice &m,
const ec_ioctl_slave_t &slave,
bool showHeader
)
bool showHeader
)
{
ec_ioctl_slave_sdo_t sdo;
ec_ioctl_slave_sdo_entry_t entry;

2
tool/CommandSdos.h
View File

@ -44,7 +44,7 @@ class CommandSdos:
void execute(MasterDevice &, const StringVector &);
protected:
void listSlaveSdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
void listSlaveSdos(MasterDevice &, const ec_ioctl_slave_t &, bool);
};
/****************************************************************************/

44
tool/CommandSiiRead.cpp
View File

@ -47,28 +47,28 @@ string CommandSiiRead::helpString() const
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Without the --verbose option, binary SII contents are" << endl
<< "output." << endl
<< endl
<< "With the --verbose option given, a textual representation" << endl
<< "of the data is output, that is separated by SII category" << endl
<< "names." << endl
<< endl
<< "Command-specific options:" << endl
<< endl
<< "Without the --verbose option, binary SII contents are" << endl
<< "output." << endl
<< endl
<< "With the --verbose option given, a textual representation" << endl
<< "of the data is output, that is separated by SII category" << endl
<< "names." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --verbose -v Output textual data with" << endl
<< " category names." << endl
<< endl
<< numericInfo();
<< " --verbose -v Output textual data with" << endl
<< " category names." << endl
<< endl
<< numericInfo();
return str.str();
return str.str();
}
/****************************************************************************/
@ -104,12 +104,12 @@ void CommandSiiRead::execute(MasterDevice &m, const StringVector &args)
data.nwords = slave->sii_nwords;
data.words = new uint16_t[data.nwords];
try {
m.readSii(&data);
} catch (MasterDeviceException &e) {
try {
m.readSii(&data);
} catch (MasterDeviceException &e) {
delete [] data.words;
throw e;
}
throw e;
}
if (getVerbosity() == Verbose) {
cout << "SII Area:" << hex << setfill('0');

12
tool/CommandSiiRead.h
View File

@ -44,12 +44,12 @@ class CommandSiiRead:
void execute(MasterDevice &, const StringVector &);
protected:
struct CategoryName {
uint16_t type;
const char *name;
};
static const CategoryName categoryNames[];
static const char *getCategoryName(uint16_t);
struct CategoryName {
uint16_t type;
const char *name;
};
static const CategoryName categoryNames[];
static const char *getCategoryName(uint16_t);
};
/****************************************************************************/

2
tool/CommandSiiWrite.cpp
View File

@ -53,7 +53,7 @@ string CommandSiiWrite::helpString() const
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< endl
<< "The file contents are checked for validity and integrity." << endl
<< "These checks can be overridden with the --force option." << endl
<< endl

16
tool/CommandUpload.cpp
View File

@ -51,7 +51,7 @@ string CommandUpload::helpString() const
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< endl
<< "The data type of the SDO entry is taken from the SDO" << endl
<< "dictionary by default. It can be overridden with the" << endl
<< "--type option. If the slave does not support the SDO" << endl
@ -152,15 +152,15 @@ void CommandUpload::execute(MasterDevice &m, const StringVector &args)
data.target = new uint8_t[data.target_size + 1];
try {
m.sdoUpload(&data);
} catch (MasterDeviceSdoAbortException &e) {
try {
m.sdoUpload(&data);
} catch (MasterDeviceSdoAbortException &e) {
delete [] data.target;
err << "SDO transfer aborted with code 0x"
<< setfill('0') << hex << setw(8) << e.abortCode
<< ": " << abortText(e.abortCode);
throwCommandException(err);
} catch (MasterDeviceException &e) {
} catch (MasterDeviceException &e) {
delete [] data.target;
throw e;
}
@ -237,9 +237,9 @@ void CommandUpload::execute(MasterDevice &m, const StringVector &args)
/****************************************************************************/
void CommandUpload::printRawData(
const uint8_t *data,
unsigned int size
)
const uint8_t *data,
unsigned int size
)
{
cout << hex << setfill('0');
while (size--) {

2
tool/CommandUpload.h
View File

@ -44,7 +44,7 @@ class CommandUpload:
void execute(MasterDevice &, const StringVector &);
protected:
enum {DefaultBufferSize = 64 * 1024};
enum {DefaultBufferSize = 64 * 1024};
static void printRawData(const uint8_t *, unsigned int);
};

8
tool/CommandVersion.cpp
View File

@ -45,11 +45,11 @@ string CommandVersion::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl;
str << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl;
return str.str();
return str.str();
}
/****************************************************************************/

80
tool/FoeCommand.cpp
View File

@ -41,49 +41,49 @@ FoeCommand::FoeCommand(const string &name, const string &briefDesc):
std::string FoeCommand::resultText(int result)
{
switch (result) {
case FOE_BUSY:
return "FOE_BUSY";
case FOE_READY:
return "FOE_READY";
case FOE_IDLE:
return "FOE_IDLE";
case FOE_WC_ERROR:
return "FOE_WC_ERROR";
case FOE_RECEIVE_ERROR:
return "FOE_RECEIVE_ERROR";
case FOE_PROT_ERROR:
return "FOE_PROT_ERROR";
case FOE_NODATA_ERROR:
return "FOE_NODATA_ERROR";
case FOE_PACKETNO_ERROR:
return "FOE_PACKETNO_ERROR";
case FOE_OPCODE_ERROR:
return "FOE_OPCODE_ERROR";
case FOE_TIMEOUT_ERROR:
return "FOE_TIMEOUT_ERROR";
case FOE_SEND_RX_DATA_ERROR:
return "FOE_SEND_RX_DATA_ERROR";
case FOE_RX_DATA_ACK_ERROR:
return "FOE_RX_DATA_ACK_ERROR";
case FOE_ACK_ERROR:
return "FOE_ACK_ERROR";
case FOE_MBOX_FETCH_ERROR:
return "FOE_MBOX_FETCH_ERROR";
case FOE_READ_NODATA_ERROR:
return "FOE_READ_NODATA_ERROR";
case FOE_MBOX_PROT_ERROR:
return "FOE_MBOX_PROT_ERROR";
default:
return "???";
}
switch (result) {
case FOE_BUSY:
return "FOE_BUSY";
case FOE_READY:
return "FOE_READY";
case FOE_IDLE:
return "FOE_IDLE";
case FOE_WC_ERROR:
return "FOE_WC_ERROR";
case FOE_RECEIVE_ERROR:
return "FOE_RECEIVE_ERROR";
case FOE_PROT_ERROR:
return "FOE_PROT_ERROR";
case FOE_NODATA_ERROR:
return "FOE_NODATA_ERROR";
case FOE_PACKETNO_ERROR:
return "FOE_PACKETNO_ERROR";
case FOE_OPCODE_ERROR:
return "FOE_OPCODE_ERROR";
case FOE_TIMEOUT_ERROR:
return "FOE_TIMEOUT_ERROR";
case FOE_SEND_RX_DATA_ERROR:
return "FOE_SEND_RX_DATA_ERROR";
case FOE_RX_DATA_ACK_ERROR:
return "FOE_RX_DATA_ACK_ERROR";
case FOE_ACK_ERROR:
return "FOE_ACK_ERROR";
case FOE_MBOX_FETCH_ERROR:
return "FOE_MBOX_FETCH_ERROR";
case FOE_READ_NODATA_ERROR:
return "FOE_READ_NODATA_ERROR";
case FOE_MBOX_PROT_ERROR:
return "FOE_MBOX_PROT_ERROR";
default:
return "???";
}
}
/****************************************************************************/
std::string FoeCommand::errorText(int errorCode)
{
switch (errorCode) {
switch (errorCode) {
case 0x00008001:
return "Not found.";
case 0x00008002:
@ -106,9 +106,9 @@ std::string FoeCommand::errorText(int errorCode)
return "No rights.";
case 0x0000800b:
return "Program Error.";
default:
return "Unknown error code";
}
default:
return "Unknown error code";
}
}
/****************************************************************************/

4
tool/FoeCommand.h
View File

@ -41,8 +41,8 @@ class FoeCommand:
FoeCommand(const string &, const string &);
protected:
static std::string resultText(int);
static std::string errorText(int);
static std::string resultText(int);
static std::string errorText(int);
};
/****************************************************************************/

26
tool/MasterDevice.cpp
View File

@ -69,15 +69,15 @@ void MasterDevice::open(Permissions perm)
stringstream deviceName;
if (fd == -1) { // not already open
deviceName << "/dev/EtherCAT" << index;
deviceName << "/dev/EtherCAT" << index;
if ((fd = ::open(deviceName.str().c_str(),
perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
stringstream err;
err << "Failed to open master device " << deviceName.str() << ": "
<< strerror(errno);
throw MasterDeviceException(err);
}
if ((fd = ::open(deviceName.str().c_str(),
perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
stringstream err;
err << "Failed to open master device " << deviceName.str() << ": "
<< strerror(errno);
throw MasterDeviceException(err);
}
}
}
@ -86,9 +86,9 @@ void MasterDevice::open(Permissions perm)
void MasterDevice::close()
{
if (fd != -1) {
::close(fd);
fd = -1;
}
::close(fd);
fd = -1;
}
}
/****************************************************************************/
@ -427,7 +427,7 @@ void MasterDevice::setDebug(unsigned int debugLevel)
stringstream err;
err << "Failed to set debug level: " << strerror(errno);
throw MasterDeviceException(err);
}
}
}
/****************************************************************************/
@ -442,7 +442,7 @@ void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
err << "Failed to download SDO: " << strerror(errno);
throw MasterDeviceException(err);
}
}
}
}
/****************************************************************************/

14
tool/MasterDevice.h
View File

@ -83,7 +83,7 @@ class MasterDevice
~MasterDevice();
void setIndex(unsigned int);
unsigned int getIndex() const;
unsigned int getIndex() const;
enum Permissions {Read, ReadWrite};
void open(Permissions);
@ -111,11 +111,11 @@ class MasterDevice
void writeSii(ec_ioctl_slave_sii_t *);
void readReg(ec_ioctl_slave_reg_t *);
void writeReg(ec_ioctl_slave_reg_t *);
void setDebug(unsigned int);
void sdoDownload(ec_ioctl_slave_sdo_download_t *);
void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
void requestState(uint16_t, uint8_t);
void readFoe(ec_ioctl_slave_foe_t *);
void setDebug(unsigned int);
void sdoDownload(ec_ioctl_slave_sdo_download_t *);
void sdoUpload(ec_ioctl_slave_sdo_upload_t *);
void requestState(uint16_t, uint8_t);
void readFoe(ec_ioctl_slave_foe_t *);
void writeFoe(ec_ioctl_slave_foe_t *);
#ifdef EC_EOE
void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
@ -130,7 +130,7 @@ class MasterDevice
inline unsigned int MasterDevice::getIndex() const
{
return index;
return index;
}
/****************************************************************************/

14
tool/main.cpp
View File

@ -99,7 +99,7 @@ string usage()
str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
<< endl << endl
<< "Commands (can be abbreviated):" << endl;
<< "Commands (can be abbreviated):" << endl;
str << left;
for (ci = commandList.begin(); ci != commandList.end(); ci++) {
@ -108,9 +108,9 @@ string usage()
}
str << endl
<< "Global options:" << endl
<< "Global options:" << endl
<< " --master -m <master> Index of the master to use. Default: 0."
<< endl
<< endl
<< " --force -f Force a command." << endl
<< " --quiet -q Output less information." << endl
<< " --verbose -v Output more information." << endl
@ -239,7 +239,7 @@ void getOptions(int argc, char **argv)
}
while (c != -1);
argCount = argc - optind;
argCount = argc - optind;
if (!argCount) {
if (helpRequested) {
@ -250,7 +250,7 @@ void getOptions(int argc, char **argv)
<< endl << usage();
exit(1);
}
}
}
commandName = argv[optind];
while (++optind < argc)
@ -320,7 +320,7 @@ int main(int argc, char **argv)
commandList.push_back(new CommandVersion());
commandList.push_back(new CommandXml());
getOptions(argc, argv);
getOptions(argc, argv);
matchingCommands = getMatchingCommands(commandName);
masterDev.setIndex(masterIndex);
@ -368,7 +368,7 @@ int main(int argc, char **argv)
retval = 1;
}
return retval;
return retval;
}
/****************************************************************************/