bkinnightskytw
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ethercat
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merge.

This commit is contained in:
Florian Pose 2010-12-20 17:52:37 +01:00
parent bf144c593c 6929f2f718
commit f413575d7f
88 changed files with 15984 additions and 279 deletions
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1
.hgignore
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@ -7,6 +7,7 @@ syntax: glob
**.o
**.o.cmd
**.swp
**/.tmp_*.gcno
**~
.tmp_versions
ChangeLog

6
NEWS
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@ -27,9 +27,11 @@ Changes since 1.4.0:
- Added e100 driver for 2.6.29, thanks to Andre Puschmann.
- Added e100 driver for 2.6.31.
* Added 8139too driver for kernels 2.6.25 (F. Pose), 2.6.26 (M. Luescher),
2.6.27, 2.6.28 and 2.6.29 (M. Goetze).
2.6.27, 2.6.28, 2.6.29 (M. Goetze), 2.6.31 (F. Pose) and 2.6.34 (Malcolm
Lewis).
* Added e1000 driver for 2.6.26 (M. Luescher) and 2.6.27.
* Added r8169 driver for 2.6.24, 2.6.27, 2.6.28, 2.6.29 and 2.6.31.
* Added r8169 driver for 2.6.24, 2.6.27, 2.6.28, 2.6.29, 2.6.31 and 2.6.32
(latter thanks to Robbie K).
* Debug interfaces are created with the Ethernet addresses of the attached
physical device.
* Improved error case return codes of many functions.

11
TODO
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@ -13,23 +13,15 @@ Version 1.5.0:
* Ethernet drivers:
- Fix link detection in generic driver.
- Add native drivers from 2.6.24 up to 2.6.31.
* ethercat tool:
- Output error after usage.
* Fix casting away constness during expected WC calculation.
* Include SoE drive_no in ethercat tool.
Future issues:
* Remove allow_scanning flag.
* Output skipped datagrams again.
* Check for Enable SDO Complete Access flag.
* Do not output 'SDO does not exist' when querying data type.
* Always write down PDO assignment/mapping in doubt? If not, add an interface
for enforcing this.
* Read AL status code on spontaneous state change.
* recompile tool/CommandVersion.cpp if revision changes.
* Log SoE IDNs with real name ([SP]-x-yyyy).
* Output SoE IDN configurations in 'ethercat config'.
* Only output watchdog config if not default.
* Implement CompleteAccess for SDO uploads.
* Output warning when send_ext() is called in illegal context.
@ -73,9 +65,12 @@ Future issues:
- Implement indent in 'ethercat ma'
- Implement 0xXXXX:YY format for specifying SDOs.
- Implement reading from stream for soe_write.
- Output error after usage.
* Simplify master fsm by introducing a common request state to handle external
requests (replace write_sii, sdo_request, etc).
* Remove stdio uses in userspace library?
* Fix casting away constness during expected WC calculation.
* Fix bus scan hang when calling ecrt_master_deactivate().
Smaller issues:

2783
devices/8139too-2.6.34-ethercat.c Normal file
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2620
devices/8139too-2.6.34-orig.c Normal file
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2
devices/Makefile.am
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@ -59,6 +59,8 @@ noinst_HEADERS = \
8139too-2.6.29-orig.c \
8139too-2.6.31-ethercat.c \
8139too-2.6.31-orig.c \
8139too-2.6.34-ethercat.c \
8139too-2.6.34-orig.c \
e100-2.6.20-ethercat.c \
e100-2.6.20-orig.c \
e100-2.6.24-ethercat.c \

5025
devices/r8169-2.6.32-ethercat.c Normal file
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4932
devices/r8169-2.6.32-orig.c Normal file
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2
examples/dc_user/Makefile.am
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@ -33,6 +33,6 @@ noinst_PROGRAMS = ec_dc_user_example
ec_dc_user_example_SOURCES = main.c
ec_dc_user_example_CFLAGS = -I$(top_srcdir)/include
ec_dc_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat
ec_dc_user_example_LDFLAGS = -L$(top_builddir)/lib/.libs -lethercat -lrt
#------------------------------------------------------------------------------

235
examples/dc_user/main.c
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@ -35,6 +35,9 @@
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <time.h>
#include <sys/mman.h>
#include <malloc.h>
/****************************************************************************/
@ -43,12 +46,20 @@
/****************************************************************************/
// Application parameters
#define FREQUENCY 100
#define PRIORITY 1
#define FREQUENCY 1000
#define CLOCK_TO_USE CLOCK_REALTIME
#define MEASURE_TIMING
// Optional features
#define CONFIGURE_PDOS 1
/****************************************************************************/
#define NSEC_PER_SEC (1000000000L)
#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)
#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \
(B).tv_nsec - (A).tv_nsec)
#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)
/****************************************************************************/
// EtherCAT
@ -58,10 +69,6 @@ static ec_master_state_t master_state = {};
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
// Timer
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
/****************************************************************************/
// process data
@ -81,10 +88,26 @@ static int off_counter_in;
static int off_counter_out;
static unsigned int counter = 0;
static unsigned int blink_counter = 0;
static unsigned int blink = 0;
static unsigned int sync_ref_counter = 0;
struct timeval app_time;
const struct timespec cycletime = {0, PERIOD_NS};
/*****************************************************************************/
struct timespec timespec_add(struct timespec time1, struct timespec time2)
{
struct timespec result;
if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {
result.tv_sec = time1.tv_sec + time2.tv_sec + 1;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;
} else {
result.tv_sec = time1.tv_sec + time2.tv_sec;
result.tv_nsec = time1.tv_nsec + time2.tv_nsec;
}
return result;
}
/*****************************************************************************/
@ -110,7 +133,7 @@ void check_master_state(void)
ecrt_master_state(master, &ms);
if (ms.slaves_responding != master_state.slaves_responding)
if (ms.slaves_responding != master_state.slaves_responding)
printf("%u slave(s).\n", ms.slaves_responding);
if (ms.al_states != master_state.al_states)
printf("AL states: 0x%02X.\n", ms.al_states);
@ -124,68 +147,108 @@ void check_master_state(void)
void cyclic_task()
{
int i;
struct timespec wakeupTime, time;
#ifdef MEASURE_TIMING
struct timespec startTime, endTime, lastStartTime = {};
uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0,
latency_min_ns = 0, latency_max_ns = 0,
period_min_ns = 0, period_max_ns = 0,
exec_min_ns = 0, exec_max_ns = 0;
#endif
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
// get current time
clock_gettime(CLOCK_TO_USE, &wakeupTime);
// check process data state (optional)
check_domain1_state();
while(1) {
wakeupTime = timespec_add(wakeupTime, cycletime);
clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
#ifdef MEASURE_TIMING
clock_gettime(CLOCK_TO_USE, &startTime);
latency_ns = DIFF_NS(wakeupTime, startTime);
period_ns = DIFF_NS(lastStartTime, startTime);
exec_ns = DIFF_NS(lastStartTime, endTime);
lastStartTime = startTime;
// calculate new process data
blink = !blink;
if (latency_ns > latency_max_ns) {
latency_max_ns = latency_ns;
}
if (latency_ns < latency_min_ns) {
latency_min_ns = latency_ns;
}
if (period_ns > period_max_ns) {
period_max_ns = period_ns;
}
if (period_ns < period_min_ns) {
period_min_ns = period_ns;
}
if (exec_ns > exec_max_ns) {
exec_max_ns = exec_ns;
}
if (exec_ns < exec_min_ns) {
exec_min_ns = exec_ns;
}
#endif
// check for master state (optional)
check_master_state();
}
// receive process data
ecrt_master_receive(master);
ecrt_domain_process(domain1);
if (blink_counter) {
blink_counter--;
} else {
blink_counter = 9;
// check process data state (optional)
check_domain1_state();
// calculate new process data
blink = !blink;
}
if (counter) {
counter--;
} else { // do this at 1 Hz
counter = FREQUENCY;
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
// check for master state (optional)
check_master_state();
app_time.tv_usec += 1000000 / FREQUENCY;
if (app_time.tv_usec >= 1000000) {
app_time.tv_usec -= 1000000;
app_time.tv_sec++;
}
ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_time));
#ifdef MEASURE_TIMING
// output timing stats
printf("period %10u ... %10u\n",
period_min_ns, period_max_ns);
printf("exec %10u ... %10u\n",
exec_min_ns, exec_max_ns);
printf("latency %10u ... %10u\n",
latency_min_ns, latency_max_ns);
period_max_ns = 0;
period_min_ns = 0xffffffff;
exec_max_ns = 0;
exec_min_ns = 0xffffffff;
latency_max_ns = 0;
latency_min_ns = 0xffffffff;
#endif
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 9;
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
// calculate new process data
blink = !blink;
}
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
}
// write process data
EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);
EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);
/****************************************************************************/
// write application time to master
clock_gettime(CLOCK_TO_USE, &time);
ecrt_master_application_time(master, TIMESPEC2NS(time));
void signal_handler(int signum) {
switch (signum) {
case SIGALRM:
sig_alarms++;
break;
}
if (sync_ref_counter) {
sync_ref_counter--;
} else {
sync_ref_counter = 1; // sync every cycle
ecrt_master_sync_reference_clock(master);
}
ecrt_master_sync_slave_clocks(master);
// send process data
ecrt_domain_queue(domain1);
ecrt_master_send(master);
#ifdef MEASURE_TIMING
clock_gettime(CLOCK_TO_USE, &endTime);
#endif
}
}
/****************************************************************************/
@ -193,8 +256,11 @@ void signal_handler(int signum) {
int main(int argc, char **argv)
{
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
perror("mlockall failed");
return -1;
}
master = ecrt_request_master(0);
if (!master)
@ -237,7 +303,7 @@ int main(int argc, char **argv)
return -1;
// configure SYNC signals for this slave
ecrt_slave_config_dc(sc, 0x0700, 10000000, 4400000, 0, 0);
ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
printf("Activating master...\n");
if (ecrt_master_activate(master))
@ -247,50 +313,15 @@ int main(int argc, char **argv)
return -1;
}
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
if (sigaction(SIGALRM, &sa, 0)) {
fprintf(stderr, "Failed to install signal handler!\n");
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 1000000 / FREQUENCY;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
gettimeofday(&app_time, NULL);
printf("Started.\n");
while (1) {
pause();
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
cyclic_task();
user_alarms++;
}
}
return 0;
printf("Starting cyclic function.\n");
cyclic_task();
return 0;
}
/****************************************************************************/

4
examples/mini/mini.c
View File

@ -33,6 +33,10 @@
#include <linux/interrupt.h>
#include <linux/err.h>
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 34)
#include <linux/slab.h>
#endif
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
#include <linux/semaphore.h>
#else

1
examples/tty/serial.c
View File

@ -30,6 +30,7 @@
#include <linux/module.h>
#include <linux/err.h>
#include <linux/termios.h>
#include <linux/slab.h>
#include "../../include/ecrt.h" // EtherCAT realtime interface
#include "../../include/ectty.h" // EtherCAT TTY interface

12
include/ecrt.h
View File

@ -78,6 +78,7 @@
* - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
* and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
* ad-hoc via the user-space library.
* - Added ecrt_master_reset() to initiate retrying to configure slaves.
*
* @{
*/
@ -859,6 +860,17 @@ uint32_t ecrt_master_sync_monitor_process(
ec_master_t *master /**< EtherCAT master. */
);
/** Retry configuring slaves.
*
* Via this method, the application can tell the master to bring all slaves to
* OP state. In general, this is not necessary, because it is automatically
* done by the master. But with special slaves, that can be reconfigured by
* the vendor during runtime, it can be useful.
*/
void ecrt_master_reset(
ec_master_t *master /**< EtherCAT master. */
);
/******************************************************************************
* Slave configuration methods
*****************************************************************************/

2
lib/Makefile.am
View File

@ -35,7 +35,7 @@ lib_LTLIBRARIES = libethercat.la
#------------------------------------------------------------------------------
libethercat_la_LDFLAGS = -version-info 1:0:0
libethercat_la_CFLAGS = -I$(srcdir)/..
libethercat_la_CFLAGS = -I$(srcdir)/.. -fno-strict-aliasing
libethercat_la_SOURCES = \
common.c \
domain.c \

2
lib/common.c
View File

@ -37,6 +37,8 @@
#include <string.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <unistd.h>
#include <sys/socket.h>
#include "master.h"
#include "master/ioctl.h"

10
lib/master.c
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@ -49,6 +49,7 @@ int ecrt_master_reserve(ec_master_t *master)
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
@ -571,3 +572,12 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
}
/*****************************************************************************/
void ecrt_master_reset(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
}
}
/*****************************************************************************/

78
master/cdev.c
View File

@ -1349,6 +1349,7 @@ int ec_cdev_ioctl_config(
data.watchdog_divider = sc->watchdog_divider;
data.watchdog_intervals = sc->watchdog_intervals;
data.sdo_count = ec_slave_config_sdo_count(sc);
data.idn_count = ec_slave_config_idn_count(sc);
data.slave_position = sc->slave ? sc->slave->ring_position : -1;
data.dc_assign_activate = sc->dc_assign_activate;
for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
@ -1531,6 +1532,56 @@ int ec_cdev_ioctl_config_sdo(
/*****************************************************************************/
/** Get slave configuration IDN information.
*/
int ec_cdev_ioctl_config_idn(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_config_idn_t data;
const ec_slave_config_t *sc;
const ec_soe_request_t *req;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(sc = ec_master_get_config_const(
master, data.config_index))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
data.config_index);
return -EINVAL;
}
if (!(req = ec_slave_config_get_idn_by_pos_const(
sc, data.idn_pos))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Invalid IDN position!\n");
return -EINVAL;
}
data.drive_no = req->drive_no;
data.idn = req->idn;
data.state = req->state;
data.size = req->data_size;
memcpy(&data.data, req->data,
min((u32) data.size, (u32) EC_MAX_IDN_DATA_SIZE));
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
#ifdef EC_EOE
/** Get EoE handler information.
@ -1941,6 +1992,25 @@ int ec_cdev_ioctl_sync_mon_process(
/*****************************************************************************/
/** Reset configuration.
*/
int ec_cdev_ioctl_reset(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
down(&master->master_sem);
ecrt_master_reset(master);
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Configure a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@ -3398,7 +3468,7 @@ int ec_cdev_ioctl_slave_soe_write(
data = kmalloc(ioctl.data_size, GFP_KERNEL);
if (!data) {
EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
EC_MASTER_ERR(master, "Failed to allocate %zu bytes of IDN data.\n",
ioctl.data_size);
return -ENOMEM;
}
@ -3564,6 +3634,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_config_pdo_entry(master, arg);
case EC_IOCTL_CONFIG_SDO:
return ec_cdev_ioctl_config_sdo(master, arg);
case EC_IOCTL_CONFIG_IDN:
return ec_cdev_ioctl_config_idn(master, arg);
#ifdef EC_EOE
case EC_IOCTL_EOE_HANDLER:
return ec_cdev_ioctl_eoe_handler(master, arg);
@ -3618,6 +3690,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
case EC_IOCTL_RESET:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_reset(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;

1
master/ethernet.h
View File

@ -39,6 +39,7 @@
#include <linux/list.h>
#include <linux/netdevice.h>
#include <linux/semaphore.h>
#include "globals.h"
#include "slave.h"

1
master/foe_request.c
View File

@ -35,6 +35,7 @@
#include <linux/module.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include "foe_request.h"
#include "foe.h"

2
master/fsm_change.c
View File

@ -42,7 +42,7 @@
/** Timeout while waiting for AL state change [s].
*/
#define EC_AL_STATE_CHANGE_TIMEOUT 2
#define EC_AL_STATE_CHANGE_TIMEOUT 5
/*****************************************************************************/

3
master/fsm_sii.c
View File

@ -184,7 +184,8 @@ void ec_fsm_sii_state_start_reading(
EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
#ifdef SII_DEBUG
EC_SLAVE_DBG(slave, 0, "reading SII data:\n");
EC_SLAVE_DBG(fsm->slave, 0, "reading SII data, word %u:\n",
fsm->word_offset);
ec_print_data(datagram->data, 4);
#endif

6
master/fsm_slave_scan.c
View File

@ -505,8 +505,10 @@ void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
EC_SLAVE_ERR(slave, "Failed to determine SII content size:"
" Reading word offset 0x%04x failed.\n", fsm->sii_offset);
return;
" Reading word offset 0x%04x failed. Assuming %u words.\n",
fsm->sii_offset, EC_FIRST_SII_CATEGORY_OFFSET);
slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
goto alloc_sii;
}
cat_type = EC_READ_U16(fsm->fsm_sii.value);

117
master/ioctl.h
View File

@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 8
#define EC_IOCTL_VERSION_MAGIC 11
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@ -87,54 +87,56 @@
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
#define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1c, ec_ioctl_config_idn_t)
#ifdef EC_EOE
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
#endif
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1d)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1e)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1f, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x20, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x21)
#define EC_IOCTL_SEND EC_IO(0x22)
#define EC_IOCTL_RECEIVE EC_IO(0x23)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x24, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x25, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x26)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x27)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x29, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2a, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2c, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2d, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2f, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x31, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x32, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x33, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x34, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x35, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x36, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x37)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x38)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x39)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3a, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x47, size_t)
#define EC_IOCTL_REQUEST EC_IO(0x1e)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x22)
#define EC_IOCTL_SEND EC_IO(0x23)
#define EC_IOCTL_RECEIVE EC_IO(0x24)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x25, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x26, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x27)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t)
#define EC_IOCTL_RESET EC_IO(0x2b)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2c, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2d, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2e, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2f, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x31, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x33, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x34, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x36, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x37, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x38, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x39)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x3a)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3b)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3c, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x40, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x41, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x47, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x48, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x49, size_t)
/*****************************************************************************/
@ -420,7 +422,7 @@ typedef struct {
uint8_t *data;
// outputs
uint32_t data_size;
size_t data_size;
uint16_t error_code;
} ec_ioctl_slave_soe_read_t;
@ -431,7 +433,7 @@ typedef struct {
uint16_t slave_position;
uint8_t drive_no;
uint16_t idn;
uint32_t data_size;
size_t data_size;
uint8_t *data;
// outputs
@ -458,6 +460,7 @@ typedef struct {
uint16_t watchdog_divider;
uint16_t watchdog_intervals;
uint32_t sdo_count;
uint32_t idn_count;
int32_t slave_position;
uint16_t dc_assign_activate;
ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
@ -514,6 +517,26 @@ typedef struct {
/*****************************************************************************/
/** Maximum size for displayed IDN data.
* \todo Make this dynamic.
*/
#define EC_MAX_IDN_DATA_SIZE 1024
typedef struct {
// inputs
uint32_t config_index;
uint32_t idn_pos;
// outputs
uint8_t drive_no;
uint16_t idn;
ec_al_state_t state;
size_t size;
uint8_t data[EC_MAX_IDN_DATA_SIZE];
} ec_ioctl_config_idn_t;
/*****************************************************************************/
#ifdef EC_EOE
typedef struct {

14
master/master.c
View File

@ -2501,6 +2501,19 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
/*****************************************************************************/
void ecrt_master_reset(ec_master_t *master)
{
ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
if (sc->slave) {
ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
}
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
@ -2521,6 +2534,7 @@ EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);
EXPORT_SYMBOL(ecrt_master_reset);
/** \endcond */

1
master/sdo_request.c
View File

@ -35,6 +35,7 @@
#include <linux/module.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include "sdo_request.h"

45
master/slave_config.c
View File

@ -371,6 +371,48 @@ const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
/*****************************************************************************/
/** Get the number of IDN configurations.
*
* \return Number of SDO configurations.
*/
unsigned int ec_slave_config_idn_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_soe_request_t *req;
unsigned int count = 0;
list_for_each_entry(req, &sc->soe_configs, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Finds an IDN configuration via its position in the list.
*
* Const version.
*/
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
const ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
const ec_soe_request_t *req;
list_for_each_entry(req, &sc->soe_configs, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/*****************************************************************************/
/** Finds a VoE handler via its position in the list.
*/
ec_sdo_request_t *ec_slave_config_find_sdo_request(
@ -951,7 +993,8 @@ int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
__func__, sc, drive_no, idn, state, data, size);
if (drive_no > 7) {
EC_CONFIG_ERR(sc, "Invalid drive number!\n");
EC_CONFIG_ERR(sc, "Invalid drive number %u!\n",
(unsigned int) drive_no);
return -EINVAL;
}

3
master/slave_config.h
View File

@ -160,6 +160,9 @@ void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
const ec_slave_config_t *, unsigned int);
unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
const ec_slave_config_t *, unsigned int);
ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,

1
master/soe_request.c
View File

@ -35,6 +35,7 @@
#include <linux/module.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include "soe_request.h"

2
tool/Command.h
View File

@ -116,7 +116,7 @@ class Command
bool matchesSubstr(const string &) const;
bool matchesAbbrev(const string &) const;
virtual string helpString() const = 0;
virtual string helpString(const string &) const = 0;
typedef vector<string> StringVector;
virtual void execute(const StringVector &) = 0;

4
tool/CommandAlias.cpp
View File

@ -45,11 +45,11 @@ CommandAlias::CommandAlias():
/*****************************************************************************/
string CommandAlias::helpString() const
string CommandAlias::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <ALIAS>" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS] <ALIAS>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandAlias.h
View File

@ -40,7 +40,7 @@ class CommandAlias:
public:
CommandAlias();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandCStruct.cpp
View File

@ -46,11 +46,11 @@ CommandCStruct::CommandCStruct():
/*****************************************************************************/
string CommandCStruct::helpString() const
string CommandCStruct::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandCStruct.h
View File

@ -40,7 +40,7 @@ class CommandCStruct:
public:
CommandCStruct();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

33
tool/CommandConfig.cpp
View File

@ -47,11 +47,11 @@ CommandConfig::CommandConfig():
/*****************************************************************************/
string CommandConfig::helpString() const
string CommandConfig::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl
@ -153,6 +153,7 @@ void CommandConfig::showDetailedConfigs(
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
ec_ioctl_config_idn_t idn;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
@ -259,6 +260,34 @@ void CommandConfig::showDetailedConfigs(
cout << indent << " None." << endl;
}
cout << indent << "IDN configuration:" << endl;
if (configIter->idn_count) {
for (j = 0; j < configIter->idn_count; j++) {
m.getConfigIdn(&idn, configIter->config_index, j);
cout << indent << " Drive " << (unsigned int) idn.drive_no
<< ", " << outputIdn(idn.idn)
<< ", " << dec << idn.size << " byte" << endl;
cout << indent << " " << hex << setfill('0');
for (i = 0; i < min((uint32_t) idn.size,
(uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
cout << setw(2) << (unsigned int) idn.data[i];
if ((i + 1) % 16 == 0 && i < idn.size - 1) {
cout << endl << indent << " ";
} else {
cout << " ";
}
}
cout << endl;
if (idn.size > EC_MAX_IDN_DATA_SIZE) {
cout << indent << " ..." << endl;
}
}
} else {
cout << indent << " None." << endl;
}
if (configIter->dc_assign_activate) {
int i;

6
tool/CommandConfig.h
View File

@ -34,16 +34,18 @@
using namespace std;
#include "Command.h"
#include "SoeCommand.h"
/****************************************************************************/
class CommandConfig:
public Command
public Command,
public SoeCommand
{
public:
CommandConfig();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandData.cpp
View File

@ -44,11 +44,11 @@ CommandData::CommandData():
/*****************************************************************************/
string CommandData::helpString() const
string CommandData::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandData.h
View File

@ -40,7 +40,7 @@ class CommandData:
public:
CommandData();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandDebug.cpp
View File

@ -45,11 +45,11 @@ CommandDebug::CommandDebug():
/*****************************************************************************/
string CommandDebug::helpString() const
string CommandDebug::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " <LEVEL>" << endl
str << binaryBaseName << " " << getName() << " <LEVEL>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandDebug.h
View File

@ -40,7 +40,7 @@ class CommandDebug:
public:
CommandDebug();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

4
tool/CommandDomains.cpp
View File

@ -43,11 +43,11 @@ CommandDomains::CommandDomains():
/*****************************************************************************/
string CommandDomains::helpString() const
string CommandDomains::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandDomains.h
View File

@ -40,7 +40,7 @@ class CommandDomains:
public:
CommandDomains();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

5
tool/CommandDownload.cpp
View File

@ -43,11 +43,12 @@ CommandDownload::CommandDownload():
/*****************************************************************************/
string CommandDownload::helpString() const
string CommandDownload::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandDownload.h
View File

@ -40,7 +40,7 @@ class CommandDownload:
public:
CommandDownload();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandEoe.cpp
View File

@ -45,11 +45,11 @@ CommandEoe::CommandEoe():
/*****************************************************************************/
string CommandEoe::helpString() const
string CommandEoe::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << endl
str << binaryBaseName << " " << getName() << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandEoe.h
View File

@ -40,7 +40,7 @@ class CommandEoe:
public:
CommandEoe();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

5
tool/CommandFoeRead.cpp
View File

@ -46,11 +46,12 @@ CommandFoeRead::CommandFoeRead():
/*****************************************************************************/
string CommandFoeRead::helpString() const
string CommandFoeRead::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <SOURCEFILE>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <SOURCEFILE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandFoeRead.h
View File

@ -40,7 +40,7 @@ class CommandFoeRead:
public:
CommandFoeRead();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

5
tool/CommandFoeWrite.cpp
View File

@ -48,11 +48,12 @@ CommandFoeWrite::CommandFoeWrite():
/*****************************************************************************/
string CommandFoeWrite::helpString() const
string CommandFoeWrite::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <FILENAME>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <FILENAME>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandFoeWrite.h
View File

@ -40,7 +40,7 @@ class CommandFoeWrite:
public:
CommandFoeWrite();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandGraph.cpp
View File

@ -43,11 +43,11 @@ CommandGraph::CommandGraph():
/*****************************************************************************/
string CommandGraph::helpString() const
string CommandGraph::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandGraph.h
View File

@ -40,7 +40,7 @@ class CommandGraph:
public:
CommandGraph();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

4
tool/CommandMaster.cpp
View File

@ -45,11 +45,11 @@ CommandMaster::CommandMaster():
/****************************************************************************/
string CommandMaster::helpString() const
string CommandMaster::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandMaster.h
View File

@ -40,7 +40,7 @@ class CommandMaster:
public:
CommandMaster();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
private:

4
tool/CommandPdos.cpp
View File

@ -43,11 +43,11 @@ CommandPdos::CommandPdos():
/*****************************************************************************/
string CommandPdos::helpString() const
string CommandPdos::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandPdos.h
View File

@ -40,7 +40,7 @@ class CommandPdos:
public:
CommandPdos();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

5
tool/CommandRegRead.cpp
View File

@ -43,11 +43,12 @@ CommandRegRead::CommandRegRead():
/*****************************************************************************/
string CommandRegRead::helpString() const
string CommandRegRead::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <OFFSET> [LENGTH]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandRegRead.h
View File

@ -42,7 +42,7 @@ class CommandRegRead:
public:
CommandRegRead();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

5
tool/CommandRegWrite.cpp
View File

@ -45,11 +45,12 @@ CommandRegWrite::CommandRegWrite():
/*****************************************************************************/
string CommandRegWrite::helpString() const
string CommandRegWrite::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <OFFSET> <DATA>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandRegWrite.h
View File

@ -42,7 +42,7 @@ class CommandRegWrite:
public:
CommandRegWrite();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
private:

4
tool/CommandRescan.cpp
View File

@ -45,11 +45,11 @@ CommandRescan::CommandRescan():
/*****************************************************************************/
string CommandRescan::helpString() const
string CommandRescan::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << endl
str << binaryBaseName << " " << getName() << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandRescan.h
View File

@ -40,7 +40,7 @@ class CommandRescan:
public:
CommandRescan();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

4
tool/CommandSdos.cpp
View File

@ -43,11 +43,11 @@ CommandSdos::CommandSdos():
/*****************************************************************************/
string CommandSdos::helpString() const
string CommandSdos::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandSdos.h
View File

@ -40,7 +40,7 @@ class CommandSdos:
public:
CommandSdos();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandSiiRead.cpp
View File

@ -43,11 +43,11 @@ CommandSiiRead::CommandSiiRead():
/*****************************************************************************/
string CommandSiiRead::helpString() const
string CommandSiiRead::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandSiiRead.h
View File

@ -40,7 +40,7 @@ class CommandSiiRead:
public:
CommandSiiRead();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

5
tool/CommandSiiWrite.cpp
View File

@ -45,11 +45,12 @@ CommandSiiWrite::CommandSiiWrite():
/*****************************************************************************/
string CommandSiiWrite::helpString() const
string CommandSiiWrite::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <FILENAME>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <FILENAME>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandSiiWrite.h
View File

@ -40,7 +40,7 @@ class CommandSiiWrite:
public:
CommandSiiWrite();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandSlaves.cpp
View File

@ -45,11 +45,11 @@ CommandSlaves::CommandSlaves():
/*****************************************************************************/
string CommandSlaves::helpString() const
string CommandSlaves::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandSlaves.h
View File

@ -40,7 +40,7 @@ class CommandSlaves:
public:
CommandSlaves();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

42
tool/CommandSoeRead.cpp
View File

@ -28,6 +28,7 @@
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandSoeRead.h"
@ -36,23 +37,28 @@ using namespace std;
/*****************************************************************************/
CommandSoeRead::CommandSoeRead():
SoeCommand("soe_read", "Read an SoE IDN from a slave.")
Command("soe_read", "Read an SoE IDN from a slave.")
{
}
/*****************************************************************************/
string CommandSoeRead::helpString() const
string CommandSoeRead::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <IDN>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <IDN>" << endl
<< binaryBaseName << " " << getName()
<< " [OPTIONS] <DRIVE> <IDN>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
<< " DRIVE is the drive number (0 - 7). If omitted, 0 is assumed."
<< endl
<< " IDN is the IDN and must be either an unsigned" << endl
<< " 16 bit number acc. to IEC 61800-7-204:" << endl
<< " Bit 15: (0) Standard data, (1) Product data" << endl
@ -84,18 +90,38 @@ void CommandSoeRead::execute(const StringVector &args)
stringstream err;
const DataType *dataType = NULL;
ec_ioctl_slave_soe_read_t ioctl;
int driveArgIndex = -1, idnArgIndex = -1;
if (args.size() != 1) {
err << "'" << getName() << "' takes one argument!";
if (args.size() == 1) {
idnArgIndex = 0;
} else if (args.size() == 2) {
driveArgIndex = 0;
idnArgIndex = 1;
} else {
err << "'" << getName() << "' takes eiter 1 or 2 arguments!";
throwInvalidUsageException(err);
}
ioctl.drive_no = 0; // FIXME
if (driveArgIndex >= 0) {
stringstream str;
unsigned int number;
str << args[driveArgIndex];
str
>> resetiosflags(ios::basefield) // guess base from prefix
>> number;
if (str.fail() || number > 7) {
err << "Invalid drive number '" << args[driveArgIndex] << "'!";
throwInvalidUsageException(err);
}
ioctl.drive_no = number;
} else {
ioctl.drive_no = 0;
}
try {
ioctl.idn = parseIdn(args[0]);
ioctl.idn = parseIdn(args[idnArgIndex]);
} catch (runtime_error &e) {
err << "Invalid IDN '" << args[0] << "': " << e.what();
err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
throwInvalidUsageException(err);
}

4
tool/CommandSoeRead.h
View File

@ -35,12 +35,14 @@
/****************************************************************************/
class CommandSoeRead:
public Command,
public DataTypeHandler,
public SoeCommand
{
public:
CommandSoeRead();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

52
tool/CommandSoeWrite.cpp
View File

@ -28,6 +28,7 @@
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandSoeWrite.h"
@ -36,23 +37,28 @@ using namespace std;
/*****************************************************************************/
CommandSoeWrite::CommandSoeWrite():
SoeCommand("soe_write", "Write an SoE IDN to a slave.")
Command("soe_write", "Write an SoE IDN to a slave.")
{
}
/*****************************************************************************/
string CommandSoeWrite::helpString() const
string CommandSoeWrite::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <IDN> <VALUE>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <IDN> <VALUE>" << endl
<< binaryBaseName << " " << getName()
<< " [OPTIONS] <DRIVE> <IDN> <VALUE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
<< " DRIVE is the drive number (0 - 7). If omitted, 0 is assumed."
<< endl
<< " IDN is the IDN and must be either an unsigned" << endl
<< " 16 bit number acc. to IEC 61800-7-204:" << endl
<< " Bit 15: (0) Standard data, (1) Product data" << endl
@ -81,23 +87,45 @@ string CommandSoeWrite::helpString() const
void CommandSoeWrite::execute(const StringVector &args)
{
stringstream strIdn, err;
stringstream err;
const DataType *dataType = NULL;
ec_ioctl_slave_soe_write_t ioctl;
SlaveList slaves;
size_t memSize;
int driveArgIndex = -1, idnArgIndex = -1, valueArgIndex = -1;
if (args.size() != 2) {
err << "'" << getName() << "' takes 2 arguments!";
if (args.size() == 2) {
idnArgIndex = 0;
valueArgIndex = 1;
} else if (args.size() == 3) {
driveArgIndex = 0;
idnArgIndex = 1;
valueArgIndex = 2;
} else {
err << "'" << getName() << "' takes eiter 2 or 3 arguments!";
throwInvalidUsageException(err);
}
ioctl.drive_no = 0; // FIXME
if (driveArgIndex >= 0) {
stringstream str;
unsigned int number;
str << args[driveArgIndex];
str
>> resetiosflags(ios::basefield) // guess base from prefix
>> number;
if (str.fail() || number > 7) {
err << "Invalid drive number '" << args[driveArgIndex] << "'!";
throwInvalidUsageException(err);
}
ioctl.drive_no = number;
} else {
ioctl.drive_no = 0;
}
try {
ioctl.idn = parseIdn(args[0]);
ioctl.idn = parseIdn(args[idnArgIndex]);
} catch (runtime_error &e) {
err << "Invalid IDN '" << args[0] << "': " << e.what();
err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
throwInvalidUsageException(err);
}
@ -123,7 +151,7 @@ void CommandSoeWrite::execute(const StringVector &args)
memSize = dataType->byteSize;
} else {
// guess string type size
memSize = args[1].size() + 1;
memSize = args[valueArgIndex].size() + 1;
if (!memSize) {
err << "Empty argument not allowed.";
throwInvalidUsageException(err);
@ -134,13 +162,13 @@ void CommandSoeWrite::execute(const StringVector &args)
try {
ioctl.data_size = interpretAsType(
dataType, args[1], ioctl.data, memSize);
dataType, args[valueArgIndex], ioctl.data, memSize);
} catch (SizeException &e) {
delete [] ioctl.data;
throwCommandException(e.what());
} catch (ios::failure &e) {
delete [] ioctl.data;
err << "Invalid value argument '" << args[1]
err << "Invalid value argument '" << args[valueArgIndex]
<< "' for type '" << dataType->name << "'!";
throwInvalidUsageException(err);
}

4
tool/CommandSoeWrite.h
View File

@ -35,12 +35,14 @@
/****************************************************************************/
class CommandSoeWrite:
public Command,
public DataTypeHandler,
public SoeCommand
{
public:
CommandSoeWrite();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

4
tool/CommandStates.cpp
View File

@ -43,11 +43,11 @@ CommandStates::CommandStates():
/*****************************************************************************/
string CommandStates::helpString() const
string CommandStates::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <STATE>" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS] <STATE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandStates.h
View File

@ -40,7 +40,7 @@ class CommandStates:
public:
CommandStates();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

5
tool/CommandUpload.cpp
View File

@ -43,11 +43,12 @@ CommandUpload::CommandUpload():
/*****************************************************************************/
string CommandUpload::helpString() const
string CommandUpload::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
str << binaryBaseName << " " << getName()
<< " [OPTIONS] <INDEX> <SUBINDEX>" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandUpload.h
View File

@ -40,7 +40,7 @@ class CommandUpload:
public:
CommandUpload();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

4
tool/CommandVersion.cpp
View File

@ -41,11 +41,11 @@ CommandVersion::CommandVersion():
/****************************************************************************/
string CommandVersion::helpString() const
string CommandVersion::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl;

2
tool/CommandVersion.h
View File

@ -40,7 +40,7 @@ class CommandVersion:
public:
CommandVersion();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
};

4
tool/CommandXml.cpp
View File

@ -44,11 +44,11 @@ CommandXml::CommandXml():
/*****************************************************************************/
string CommandXml::helpString() const
string CommandXml::helpString(const string &binaryBaseName) const
{
stringstream str;
str << getName() << " [OPTIONS]" << endl
str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
<< endl
<< getBriefDescription() << endl
<< endl

2
tool/CommandXml.h
View File

@ -40,7 +40,7 @@ class CommandXml:
public:
CommandXml();
string helpString() const;
string helpString(const string &) const;
void execute(const StringVector &);
protected:

3
tool/Makefile.am
View File

@ -128,6 +128,7 @@ REV = `if test -s $(top_srcdir)/revision; then \
ethercat_CXXFLAGS = \
-I$(top_srcdir)/include \
-I$(top_srcdir)/master \
-Wall -DREV=$(REV)
-Wall -DREV=$(REV) \
-fno-strict-aliasing
#------------------------------------------------------------------------------

18
tool/MasterDevice.cpp
View File

@ -200,6 +200,24 @@ void MasterDevice::getConfigSdo(
/****************************************************************************/
void MasterDevice::getConfigIdn(
ec_ioctl_config_idn_t *data,
unsigned int index,
unsigned int pos
)
{
data->config_index = index;
data->idn_pos = pos;
if (ioctl(fd, EC_IOCTL_CONFIG_IDN, data) < 0) {
stringstream err;
err << "Failed to get slave config IDN: " << strerror(errno);
throw MasterDeviceException(err);
}
}
/****************************************************************************/
void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
{
data->index = index;

1
tool/MasterDevice.h
View File

@ -116,6 +116,7 @@ class MasterDevice
void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
uint8_t, uint16_t, uint8_t);
void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
void getConfigIdn(ec_ioctl_config_idn_t *, unsigned int, unsigned int);
void getDomain(ec_ioctl_domain_t *, unsigned int);
void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

20
tool/SoeCommand.cpp
View File

@ -36,13 +36,6 @@ extern const ec_code_msg_t soe_error_codes[];
/*****************************************************************************/
SoeCommand::SoeCommand(const string &name, const string &briefDesc):
Command(name, briefDesc)
{
}
/*****************************************************************************/
uint16_t SoeCommand::parseIdn(const string &str)
{
uint16_t idn = 0x0000;
@ -109,6 +102,19 @@ uint16_t SoeCommand::parseIdn(const string &str)
/*****************************************************************************/
string SoeCommand::outputIdn(uint16_t idn)
{
stringstream str;
str << ((idn & 0x8000) ? 'P' : 'S')
<< "-" << ((idn >> 12) & 0x07)
<< "-" << setfill('0') << setw(4) << (idn & 0x0fff);
return str.str();
}
/*****************************************************************************/
/** Outputs an SoE error code.
*/
std::string SoeCommand::errorMsg(uint16_t code)

8
tool/SoeCommand.h
View File

@ -37,15 +37,11 @@
/****************************************************************************/
class SoeCommand:
public Command,
public DataTypeHandler
class SoeCommand
{
public:
SoeCommand(const string &, const string &);
protected:
static uint16_t parseIdn(const string &);
static std::string outputIdn(uint16_t);
static std::string errorMsg(uint16_t);
};

4
tool/main.cpp
View File

@ -312,7 +312,7 @@ int main(int argc, char **argv)
cmd->execute(commandArgs);
} catch (InvalidUsageException &e) {
cerr << e.what() << endl << endl;
cerr << binaryBaseName << " " << cmd->helpString();
cerr << cmd->helpString(binaryBaseName);
retval = 1;
} catch (CommandException &e) {
cerr << e.what() << endl;
@ -322,7 +322,7 @@ int main(int argc, char **argv)
retval = 1;
}
} else {
cout << binaryBaseName << " " << cmd->helpString();
cout << cmd->helpString(binaryBaseName);
}
} else {
cerr << "Ambiguous command abbreviation! Matching:" << endl;

1
tty/module.c
View File

@ -43,6 +43,7 @@
#include <linux/version.h>
#include <linux/serial.h>
#include <linux/uaccess.h>
#include <linux/slab.h>
#include "../master/globals.h"
#include "../include/ectty.h"