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307 | /* File: EL3164.cpp
* 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/EL3164.cpp
* @author Robin Passama
* @brief source file for EL3164 class
*
*/
#include <ethercatcpp/beckhoff_terminals/EL3164.h>
#include <pid/log/ethercatcpp-core_ethercatcpp-core.h>
namespace ethercatcpp {
namespace {
//----------------------------------------------------------------------------//
// M A I L B O X D E F I N I T I O N S //
//----------------------------------------------------------------------------//
struct [[gnu::packed]] mailbox_out_t {
int8_t mailbox[128];<--- struct member 'mailbox_out_t::mailbox' is never used.
};
struct [[gnu::packed]] mailbox_in_t {
int8_t mailbox[128];<--- struct member 'mailbox_in_t::mailbox' is never used.
};
//----------------------------------------------------------------------------//
// C Y C L I C B U F F E R //
//----------------------------------------------------------------------------//
struct [[gnu::packed]] buffer_out_cyclic_command_t {
// No output data
};
struct [[gnu::packed]] input_data_channel_t {
uint16_t status_word;<--- struct member 'input_data_channel_t::status_word' is never used.
int16_t data_value;<--- struct member 'input_data_channel_t::data_value' is never used.
};
struct [[gnu::packed]] buffer_in_cyclic_status_t {
input_data_channel_t channel_1; // 0x6000
input_data_channel_t channel_2; // 0x6010
input_data_channel_t channel_3; // 0x6020
input_data_channel_t channel_4; // 0x6030
};
} // namespace
EL3164::EL3164()
: SlaveDevice(), last_updated_{-1}, updated_{false, false, false, false} {
set_id("EL3164", 0x00000002, 0x0c5c3052);
// canopen_Configure_SDO( [this](){
//
// } ); // canopen_Configure_SDO End
// Mailboxes configuration
define_physical_buffer<mailbox_out_t>(ASYNCHROS_OUT, 0x1000, 0x00010026);
define_physical_buffer<mailbox_in_t>(ASYNCHROS_IN, 0x1080, 0x00010022);
// In/out buffer config
define_physical_buffer<buffer_out_cyclic_command_t>(
SYNCHROS_OUT, 0x1100, 0x00000004); // size depand of configured PDO
define_physical_buffer<buffer_in_cyclic_status_t>(
SYNCHROS_IN, 0x1180, 0x00010020); // size depand of configured PDO
//----------------------------------------------------------------------------//
// R U N S S T E P S //
//----------------------------------------------------------------------------//
add_run_step([]() {},
[this]() { unpack_status_buffer(); }); // add_Run_Step end
} // constructor end
EL3164::~EL3164() = default;
void EL3164::unpack_status_buffer() {
auto buff = input_buffer<buffer_in_cyclic_status_t>(0x1180);
channel_1_.status_word = buff->channel_1.status_word;
channel_1_.data_value = buff->channel_1.data_value;
channel_2_.status_word = buff->channel_2.status_word;
channel_2_.data_value = buff->channel_2.data_value;
channel_3_.status_word = buff->channel_3.status_word;
channel_3_.data_value = buff->channel_3.data_value;
channel_4_.status_word = buff->channel_4.status_word;
channel_4_.data_value = buff->channel_4.data_value;
check_updated(channel_1);
check_updated(channel_2);
check_updated(channel_3);
check_updated(channel_4);
}
int EL3164::channel_value(channel_id_t channel) const {
if (not error(channel) and
valid(channel)) { // check if data have no error and is valid
switch (channel) {
case channel_1:
return channel_1_.data_value;
case channel_2:
return channel_2_.data_value;
case channel_3:
return channel_3_.data_value;
case channel_4:
return channel_4_.data_value;
default:
return 0;
}
} else {
pid_log << pid::warning << "error on channel " << channel + 1
<< pid::endl
<< pid::flush;
return 0;
}
}
bool EL3164::under_range(channel_id_t channel) const {
switch (channel) {
case channel_1:
return (channel_1_.status_word >> 0) & 1U;
case channel_2:
return (channel_2_.status_word >> 0) & 1U;
case channel_3:
return (channel_3_.status_word >> 0) & 1U;
case channel_4:
return (channel_4_.status_word >> 0) & 1U;
default:
return false;
}
}
bool EL3164::over_range(channel_id_t channel) const {
switch (channel) {
case channel_1:
return (channel_1_.status_word >> 1) & 1U;
case channel_2:
return (channel_2_.status_word >> 1) & 1U;
case channel_3:
return (channel_3_.status_word >> 1) & 1U;
case channel_4:
return (channel_4_.status_word >> 1) & 1U;
default:
return false;
}
}
// int EL3164::check_Limit_1_Monitoring(channel_id_t channel){
// switch (channel) {
// case channel_1:
// return((int)(channel_1_.status_word >> 2) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// case channel_2:
// return((int)(channel_2_.status_word >> 2) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// case channel_3:
// return((int)(channel_3_.status_word >> 2) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// case channel_4:
// return((int)(channel_4_.status_word >> 2) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// default:
// return(0);
// }
// }
//
// int EL3164::check_Limit_2_Monitoring(channel_id_t channel){
// switch (channel) {
// case channel_1:
// return((int)(channel_1_.status_word >> 4) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// case channel_2:
// return((int)(channel_2_.status_word >> 4) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// case channel_3:
// return((int)(channel_3_.status_word >> 4) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// case channel_4:
// return((int)(channel_4_.status_word >> 4) & 3U); //Mask is 3U to keep
// the 2 last bits
// break;
// default:
// return(0);
// }
// }
bool EL3164::error(channel_id_t channel) const {
switch (channel) {
case channel_1:
return (channel_1_.status_word >> 6) & 1U;
case channel_2:
return (channel_2_.status_word >> 6) & 1U;
case channel_3:
return (channel_3_.status_word >> 6) & 1U;
case channel_4:
return (channel_4_.status_word >> 6) & 1U;
default:
return false;
}
}
bool EL3164::sync_error(channel_id_t channel) const {
switch (channel) {
case channel_1:
return (channel_1_.status_word >> 13) & 1U;
case channel_2:
return (channel_2_.status_word >> 13) & 1U;
case channel_3:
return (channel_3_.status_word >> 13) & 1U;
case channel_4:
return (channel_4_.status_word >> 13) & 1U;
default:
return false;
}
}
bool EL3164::valid(channel_id_t channel) const {
switch (channel) {
case channel_1:
return not((channel_1_.status_word >> 14) & 1U);
case channel_2:
return not((channel_2_.status_word >> 14) & 1U);
case channel_3:
return not((channel_3_.status_word >> 14) & 1U);
case channel_4:
return not((channel_4_.status_word >> 14) & 1U);
default:
return false;
}
}
void EL3164::check_updated(channel_id_t channel) {
int val{0};
switch (channel) {
case channel_1:
val = (channel_1_.status_word >> 15) & 1;
break;
case channel_2:
val = (channel_2_.status_word >> 15) & 1;
break;
case channel_3:
val = (channel_3_.status_word >> 15) & 1;
break;
case channel_4:
val = (channel_4_.status_word >> 15) & 1;
break;
default:
return;
}
if (val != last_updated_) {
last_updated_ = static_cast<int8_t>(val);
updated_[channel] = true;
}
last_updated_ = static_cast<int8_t>(val);
updated_[channel] = false;
}
bool EL3164::updated(channel_id_t channel) const {
return updated_[channel];
}
void EL3164::print_all_channels() const {
std::vector<channel_id_t> all_channel{channel_1, channel_2, channel_3,
channel_4};
for (auto& channel : all_channel) {
pid_log << pid::info << "Channel " << channel + 1 << " datas :" << "\n";
pid_log << pid::info << "Data_Value = " << channel_value(channel)
<< "\n";
pid_log << pid::info << "Underrange = " << under_range(channel) << "\n";
pid_log << pid::info << "Overrange = " << over_range(channel) << "\n";
// cout << "Limit_1_Monitoring = " << check_Limit_1_Monitoring(channel)
// << "\n"; cout << "Limit_2_Monitoring = " <<
// check_Limit_2_Monitoring(channel) << "\n";
pid_log << pid::info << "Error = " << error(channel) << "\n";
pid_log << pid::info << "Sync_Error = " << sync_error(channel) << "\n";
pid_log << pid::info << "value valid = " << valid(channel) << "\n";
pid_log << pid::info << "Value updated = " << updated(channel) << "\n";
pid_log << pid::info << "\n";
}
pid_log << pid::flush;
}
} // namespace ethercatcpp
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