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161 | /* File: EL3104.h
* This file is part of the program ethercatcpp-core
* Program description : EtherCAT driver libraries for UNIX
* Copyright (C) 2017-2024 - Robin Passama (LIRMM / CNRS) Arnaud Meline
* (LIRMM / CNRS) Benjamin Navarro (LIRMM / CNRS). All Right reserved.
*
* This software is free software: you can redistribute it and/or modify
* it under the terms of the CeCILL-C license as published by
* the CEA CNRS INRIA, either version 1
* of the License, or (at your option) any later version.
* This software is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* CeCILL-C License for more details.
*
* You should have received a copy of the CeCILL-C License
* along with this software. If not, it can be found on the official
* website of the CeCILL licenses family (http://www.cecill.info/index.en.html).
*/
/**
* @file beckhoff_terminals/EL3104.h
* @author Robin Passama (maintainer)
* @author Arnaud Meline (original)
* @author Benjamin Navarro (refactoring)
* @brief EtherCAT driver for beckhoff EL3104 device.
* @date October 2019 06.
* @ingroup ethercatcpp-core
* @example example_EL3104.cpp
*/
#pragma once
#include <ethercatcpp/slave_device.h>
/*! \namespace ethercatcpp
*
* Root namespace for common and general purpose ethercatcpp packages
*/
namespace ethercatcpp {
/** @brief This class describe the EtherCAT driver for a beckhoff EL3104 device
*
* This driver permit to communicate with a "beckhoff EL3104" through an
* EtherCAT bus. The EL3104 EtherCAT Terminal is an interface for the direct
* connection of 4-channel analog input terminal -10 ... +10 V.
*/
class EL3104 : public SlaveDevice {
public:
/**
* @brief Constructor of EL3104 class
*/
EL3104();
virtual ~EL3104();
//! This enum define open circuit detection pin.
enum channel_id_t {
channel_1, //!< Channel 1
channel_2, //!< Channel 2
channel_3, //!< Channel 3
channel_4 //!< Channel 4
};
/**
* @brief Get value provided by a channel
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return value of specified channel
*/
int channel_value(channel_id_t channel) const;
/**
* @brief Check if value of channel is below measuring range
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return TRUE if available, FALSE otherwise
*/
bool under_range(channel_id_t channel) const;
/**
* @brief Check if value of channel exceeds measuring range
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return TRUE if available, FALSE otherwise
*/
bool over_range(channel_id_t channel) const;
// /**
// * @brief Function used to check Limit 1 monitoring
// *
// * @param [in] channel desired channel (choose in channel_id_t)
// * @return 0: not active, 1: value is smaller than limit value 1, 2: value
// is larger than limit value 1, 3: Value is equal to limit value 1
// */
// int check_Limit_1_Monitoring(channel_id_t channel);
//
// /**
// * @brief Function used to check Limit 2 monitoring
// *
// * @param [in] channel desired channel (choose in channel_id_t)
// * @return 0: not active, 1: value is smaller than limit value 1, 2: value
// is larger than limit value 1, 3: Value is equal to limit value 1
// */
// int check_Limit_2_Monitoring(channel_id_t channel);
// add fct to set limit 1 and 2 value and fct to enable limit 1 and 2 if
// used
/**
* @brief Check if an error is detected (invalid data)
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return TRUE if error notified, FALSE otherwise
*/
bool error(channel_id_t channel) const;
/**
* @brief Check if no new process data was available
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return TRUE if sync error notified, FALSE otherwise
*/
bool sync_error(channel_id_t channel) const;
/**
* @brief Check if channel current value is valud
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return TRUE if valid, FALSE otherwise
*/
bool valid(channel_id_t channel) const;
/**
* @brief Check if channel value has been updated since last call to updated
*
* @param [in] channel desired channel (choose in channel_id_t)
* @return true if updated, FALSE otherwise
*/
bool updated(channel_id_t channel) const;
/**
* @brief Print human raedable state of all available channels
*/
void print_all_channels() const;
private:
void unpack_status_buffer();
int8_t last_updated_;
bool updated_[4];
void check_updated(channel_id_t);
struct data_channel_t {
uint16_t status_word;<--- struct member 'data_channel_t::status_word' is never used.
int16_t data_value;<--- struct member 'data_channel_t::data_value' is never used.
};
// Status variable
data_channel_t channel_1_; // 0x6000
data_channel_t channel_2_; // 0x6010
data_channel_t channel_3_; // 0x6020
data_channel_t channel_4_; // 0x6030
};
} // namespace ethercatcpp
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