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335 | /* File: EL5101.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/EL5101.cpp
* @author Robin Passama
* @brief source file for EL5101 class
*
*/
#include <ethercatcpp/beckhoff_terminals/EL5101.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[48];<--- struct member 'mailbox_out_t::mailbox' is never used.
};
struct [[gnu::packed]] mailbox_in_t {
int8_t mailbox[48];<--- 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 {
uint8_t command_word = 0; // name_7010_01__04;
uint8_t empty_5 = 0;
uint32_t set_counter_value = 0; // name_7010_11;
};
struct [[gnu::packed]] buffer_in_cyclic_status_t {
uint8_t status_word_1; // name_6010_01__08;<--- struct member 'buffer_in_cyclic_status_t::status_word_1' is never used.
uint8_t status_word_2; // name_6010_09__10;<--- struct member 'buffer_in_cyclic_status_t::status_word_2' is never used.
uint32_t counter_value; // name_6010_11;<--- struct member 'buffer_in_cyclic_status_t::counter_value' is never used.
uint32_t latch_value; // name_6010_12;<--- struct member 'buffer_in_cyclic_status_t::latch_value' is never used.
uint32_t period_value; // name_6010_14;<--- struct member 'buffer_in_cyclic_status_t::period_value' is never used.
};
} // namespace
EL5101::EL5101() : SlaveDevice(), command_word_(0), set_counter_value_(0) {
set_id("EL5101", 0x00000002, 0x13ed3052);
configure_at_init([this]() {
// Config Command PDO mapping
start_command_pdo_mapping<uint16_t>();
add_command_pdo_mapping<uint16_t>(0x1603);
end_command_pdo_mapping<uint16_t>();
// Config Status PDO mapping
start_status_pdo_mapping<uint16_t>();
add_status_pdo_mapping<uint16_t>(0x1A04);
add_status_pdo_mapping<uint16_t>(0x1A06);
end_status_pdo_mapping<uint16_t>();
configure_gate_polarity(0);
enable_input_filter(false);
enable_open_circuit_detection(detection_pin_A, true);
enable_open_circuit_detection(detection_pin_B, true);
enable_open_circuit_detection(detection_pin_C, true);
});
// Mailboxes configuration
define_physical_buffer<mailbox_out_t>(ASYNCHROS_OUT, 0x1800, 0x00010026);
define_physical_buffer<mailbox_in_t>(ASYNCHROS_IN, 0x1880, 0x00010022);
// In/out buffer config
define_physical_buffer<buffer_out_cyclic_command_t>(
SYNCHROS_OUT, 0x1000, 0x00010024); // size depand of configured PDO
define_physical_buffer<buffer_in_cyclic_status_t>(
SYNCHROS_IN, 0x1100, 0x00010020); // size depand of configured PDO
//----------------------------------------------------------------------------//
// R U N S S T E P S //
//----------------------------------------------------------------------------//
add_run_step([this]() { update_command_buffer(); },
[this]() { unpack_status_buffer(); }); // add_Run_Step end
} // constructor end
EL5101::~EL5101() = default;
void EL5101::update_command_buffer() {
auto buff = output_buffer<buffer_out_cyclic_command_t>(0x1000);
buff->command_word = command_word_;
buff->set_counter_value = set_counter_value_;
}
void EL5101::unpack_status_buffer() {
auto buff = input_buffer<buffer_in_cyclic_status_t>(0x1100);
status_word_1_ = buff->status_word_1;
status_word_2_ = buff->status_word_2;
counter_value_ = buff->counter_value;
latch_value_ = buff->latch_value;
period_value_ = buff->period_value;
}
// Configuration fct
bool EL5101::enable_counter_reset(bool state) {
return write_sdo(0x8010, 0x01, state);
}
bool EL5101::enable_external_reset(bool state) {
return write_sdo(0x8010, 0x02, state);
}
bool EL5101::enable_up_down_counter(bool state) {
return write_sdo(0x8010, 0x03, state);
}
bool EL5101::configure_gate_polarity(int state) {
return write_sdo(0x8010, 0x04, state);
}
bool EL5101::enable_input_filter(
bool state) { // 1 => active filter | 0 => desactive
state = not state; // Invert value of state. On device => 0 : activate | 1 :
// desactivate
return write_sdo(0x8010, 0x08, state);
}
bool EL5101::enable_open_circuit_detection(open_circuit_pin_t pin, bool state) {
switch (pin) {
case detection_pin_A:
return write_sdo(0x8010, 0x0B, state);
break;
case detection_pin_B:
return write_sdo(0x8010, 0x0C, state);
break;
case detection_pin_C:
return write_sdo(0x8010, 0x0D, state);
break;
}
return false;
}
bool EL5101::activate_rotation_reversion(bool state) {
return write_sdo(0x8010, 0x0E, state);
}
bool EL5101::enable_external_reset_polarity(bool state) {
return write_sdo(0x8010, 0x10, state);
}
bool EL5101::set_frequency_windows(uint16_t value) {
return write_sdo(0x8010, 0x11, value);
}
bool EL5101::set_frequency_scaling(uint16_t value) {
return write_sdo(0x8010, 0x13, value);
}
bool EL5101::set_period_scaling(uint16_t value) {
return write_sdo(0x8010, 0x14, value);
}
bool EL5101::set_frequency_resolution(uint16_t value) {
return write_sdo(0x8010, 0x15, value);
}
bool EL5101::set_period_resolution(uint16_t value) {
return write_sdo(0x8010, 0x16, value);
}
bool EL5101::set_frequency_wait_time(uint16_t value) {
return write_sdo(0x8010, 0x17, value);
}
// enable_latch
void EL5101::enable_latch(latch_activation_pin_t pin, bool state) {
switch (pin) {
case latch_pin_C:
command_word_ ^= (-state ^ command_word_) & (1UL << 0);
break;
case latch_pin_ext_pos:
command_word_ ^= (-state ^ command_word_) & (1UL << 1);
break;
case latch_pin_ext_neg:
command_word_ ^= (-state ^ command_word_) & (1UL << 3);
break;
}
}
//
void EL5101::enable_counter_offset(bool state) {
command_word_ ^= (-state ^ command_word_) & (1UL << 2);
}
void EL5101::set_counter_offset(uint32_t value) {
set_counter_value_ = value;
}
bool EL5101::check_latch_validity(latch_activation_pin_t pin) const {
switch (pin) {
case latch_pin_C:
return (status_word_1_ >> 0) & 1U;
break;
case latch_pin_ext_pos:
return (status_word_1_ >> 1) & 1U;
break;
case latch_pin_ext_neg:
return (status_word_1_ >> 1) & 1U;
break;
}
return false;
}
bool EL5101::check_counter_offset() const {
return (status_word_1_ >> 2) & 1U;
}
bool EL5101::counter_underflow() const {
return (status_word_1_ >> 3) & 1U;
}
bool EL5101::counter_overflow() const {
return (status_word_1_ >> 4) & 1U;
}
bool EL5101::state_input_1() const {
return (status_word_1_ >> 5) & 1U;
}
bool EL5101::open_circuit() const {
return (status_word_1_ >> 6) & 1U;
}
bool EL5101::extrapolation_stall() const {
return (status_word_1_ >> 7) & 1U;
}
bool EL5101::state_input_A() const {
return (status_word_2_ >> 0) & 1U;
}
bool EL5101::state_input_B() const {
return (status_word_2_ >> 1) & 1U;
}
bool EL5101::state_input_C() const {
return (status_word_2_ >> 2) & 1U;
}
bool EL5101::state_input_gate() const {
return (status_word_2_ >> 3) & 1U;
}
bool EL5101::state_input_external_latch() const {
return (status_word_2_ >> 4) & 1U;
}
bool EL5101::sync_error() const {
return (status_word_2_ >> 5) & 1U; // 0=OK
}
bool EL5101::valid() const {
return not((status_word_2_ >> 6) & 1U); // 0=valid
}
bool EL5101::updated() const {
return (status_word_2_ >> 7) & 1U;
}
uint32_t EL5101::counter() const {
return counter_value_;
}
uint32_t EL5101::latch() const {
return latch_value_;
}
uint32_t EL5101::period() const {
return period_value_;
}
void EL5101::print() const {
pid_log << pid::info
<< " Latch Validity on C = " << check_latch_validity(latch_pin_C)
<< pid::endl;
pid_log << pid::info << " Latch Validity on ext neg = "
<< check_latch_validity(latch_pin_ext_neg) << pid::endl;
pid_log << pid::info << " Latch Validity on ext pos = "
<< check_latch_validity(latch_pin_ext_pos) << pid::endl;
pid_log << pid::info << " Counter_Offset_Set = " << check_counter_offset()
<< pid::endl;
pid_log << pid::info << " Counter_Underflow = " << counter_underflow()
<< pid::endl;
pid_log << pid::info << " Counter_Overflow = " << counter_overflow()
<< pid::endl;
pid_log << pid::info << " State_Input_1 = " << state_input_1() << pid::endl;
pid_log << pid::info << " Open_Circuit = " << open_circuit() << pid::endl;
pid_log << pid::info << " Extrapolation_Stall = " << extrapolation_stall()
<< pid::endl;
pid_log << pid::info << " State_Input_A = " << state_input_A() << pid::endl;
pid_log << pid::info << " State_Input_B = " << state_input_B() << pid::endl;
pid_log << pid::info << " State_Input_C = " << state_input_C() << pid::endl;
pid_log << pid::info << " State_Input_Gate = " << state_input_gate()
<< pid::endl;
pid_log << pid::info
<< " State_Input_Ext_Latch = " << state_input_external_latch()
<< pid::endl;
pid_log << pid::info << " Sync_Error = " << sync_error() << pid::endl;
pid_log << pid::info << " Data_Validity = " << valid() << pid::endl;
pid_log << pid::info << " Data_Updated = " << updated() << pid::endl;
pid_log << pid::info << " counter_value = " << counter() << pid::endl;
pid_log << pid::info << " Latch_value = " << latch() << pid::endl;
pid_log << pid::info << " Period_value = " << period() << pid::endl;
pid_log << pid::flush;
}
} // namespace ethercatcpp
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