added NCT TTLAC2

src/Kbuild

@@ -18,6 +18,7 @@ lcec-objs := \
     lcec_el40x8.o \
     lcec_el41x2.o \
     lcec_el41x4.o \
+    lcec_el5021.o \
     lcec_el5101.o \
     lcec_el5151.o \
     lcec_el5152.o \
@@ -29,6 +30,9 @@ lcec-objs := \
     lcec_el7342.o \
     lcec_el95xx.o \
     lcec_em7004.o \
+    lcec_ncti16.o \
+    lcec_ncti32.o \
+    lcec_nctttlac2.o \
     lcec_stmds5k.o \
     lcec_deasda.o \
     lcec_omrg5.o \

src/lcec.h

@@ -61,6 +61,7 @@ do {                        \
 #define LCEC_STOEBER_VID  0x000000b9
 #define LCEC_DELTA_VID    0x000001dd
 #define LCEC_MODUSOFT_VID 0x00000907
+#define LCEC_NCT_VID      0x0000052E
 #define LCEC_OMRON_VID    0x00000083
 
 // State update period (ns)

src/lcec_conf.c

@@ -166,6 +166,7 @@ static const LCEC_CONF_TYPELIST_T slaveTypes[] = {
   { "EL4038", lcecSlaveTypeEL4038, NULL },
 
   // encoder inputs
+  { "EL5021", lcecSlaveTypeEL5021, NULL },
   { "EL5101", lcecSlaveTypeEL5101, NULL },
   { "EL5151", lcecSlaveTypeEL5151, NULL },
   { "EL5152", lcecSlaveTypeEL5152, NULL },
@@ -197,6 +198,14 @@ static const LCEC_CONF_TYPELIST_T slaveTypes[] = {
 
   // multi axis interface
   { "EM7004", lcecSlaveTypeEM7004, NULL },
+
+  // NCT digital inputs
+  { "NCTI16", lcecSlaveTypeNCTI16, NULL },
+  { "NCTI32", lcecSlaveTypeNCTI32, NULL },
+  { "NCTI32CS", lcecSlaveTypeNCTI32CS, NULL },
+
+  // NCT 2x encoder inputs, 2x analog outputs, 2x tacho outputs
+  { "NCTTTLAC2", lcecSlaveTypeNCTTTLAC2, NULL },
 
   // stoeber MDS5000 series
   { "StMDS5k", lcecSlaveTypeStMDS5k, slaveStMDS5kParams },

src/lcec_conf.h

@@ -132,6 +132,7 @@ typedef enum {
   lcecSlaveTypeEL4132,
   lcecSlaveTypeEL4104,
   lcecSlaveTypeEL4134,
+  lcecSlaveTypeEL5021,
   lcecSlaveTypeEL5101,
   lcecSlaveTypeEL5151,
   lcecSlaveTypeEL5152,
@@ -149,6 +150,10 @@ typedef enum {
   lcecSlaveTypeEL1904,
   lcecSlaveTypeEL2904,
   lcecSlaveTypeEM7004,
+  lcecSlaveTypeNCTI16,
+  lcecSlaveTypeNCTI32,
+  lcecSlaveTypeNCTI32CS,
+  lcecSlaveTypeNCTTTLAC2,
   lcecSlaveTypeStMDS5k,
   lcecSlaveTypeDeASDA,
   lcecSlaveTypeOmrG5,

src/lcec_el5021.c

@@ -0,0 +1,259 @@
+//
+//    Copyright (C) 2012 Sascha Ittner <[email protected]>
+//                  2021 Marius Alksnys <[email protected]>
+//
+//    This program is free software; you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation; either version 2 of the License, or
+//    (at your option) any later version.
+//
+//    This program 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
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with this program; if not, write to the Free Software
+//    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
+//
+
+#include "lcec.h"
+#include "lcec_el5021.h"
+
+typedef struct {
+  hal_bit_t *index_enable;
+  hal_bit_t *set_counter_done;
+  hal_bit_t *frequency_error, *amplitude_error;
+  hal_bit_t *input_c_status;
+  hal_bit_t *sync_error, *txpdo_error, *txpdo_state;
+  hal_s32_t *count, *latch;
+  hal_float_t *pos, *pos_scale;
+  hal_bit_t *set_counter;
+
+  unsigned int latch_c_valid_pdo_os;
+  unsigned int set_counter_done_pdo_os;
+  unsigned int frequency_error_pdo_os;
+  unsigned int amplitude_error_pdo_os;
+  unsigned int input_c_status_pdo_os;
+  unsigned int sync_error_pdo_os;
+  unsigned int txpdo_error_pdo_os;
+  unsigned int txpdo_state_pdo_os;
+  unsigned int count_pdo_os;
+  unsigned int latch_value_pdo_os;
+  unsigned int enable_latch_c_pdo_os;
+  unsigned int set_counter_pdo_os;
+  unsigned int set_counter_value_pdo_os;
+
+  unsigned int latch_c_valid_bitp;
+  unsigned int set_counter_done_bitp;
+  unsigned int frequency_error_bitp;
+  unsigned int amplitude_error_bitp;
+  unsigned int input_c_status_bitp;
+  unsigned int sync_error_bitp;
+  unsigned int txpdo_error_bitp;
+  unsigned int txpdo_state_bitp;
+  unsigned int count_bitp;
+  unsigned int latch_value_bitp;
+  unsigned int enable_latch_c_bitp;
+  unsigned int set_counter_bitp;
+  unsigned int set_counter_value_bitp;
+
+  int do_init;
+  int32_t last_count;
+  double old_scale, scale;
+
+  int last_operational;
+} lcec_el5021_data_t;
+
+static const lcec_pindesc_t slave_pins[] = {
+  { HAL_BIT, HAL_IO, offsetof(lcec_el5021_data_t, index_enable), "%s.%s.%s.index-enable" },
+  { HAL_BIT, HAL_OUT, offsetof(lcec_el5021_data_t, input_c_status), "%s.%s.%s.input-c-status" },
+  { HAL_BIT, HAL_OUT, offsetof(lcec_el5021_data_t, sync_error), "%s.%s.%s.sync-error" },
+  { HAL_BIT, HAL_OUT, offsetof(lcec_el5021_data_t, txpdo_error), "%s.%s.%s.txpdo-error" },
+  { HAL_BIT, HAL_OUT, offsetof(lcec_el5021_data_t, txpdo_state), "%s.%s.%s.txpdo-state" },
+  { HAL_S32, HAL_OUT, offsetof(lcec_el5021_data_t, count), "%s.%s.%s.count" },
+  { HAL_S32, HAL_OUT, offsetof(lcec_el5021_data_t, latch), "%s.%s.%s.latch" },
+  { HAL_BIT, HAL_OUT, offsetof(lcec_el5021_data_t, frequency_error), "%s.%s.%s.frequency-error" },
+  { HAL_BIT, HAL_OUT, offsetof(lcec_el5021_data_t, amplitude_error), "%s.%s.%s.amplitude-error" },
+  { HAL_FLOAT, HAL_OUT, offsetof(lcec_el5021_data_t, pos), "%s.%s.%s.pos" },
+  { HAL_FLOAT, HAL_IN, offsetof(lcec_el5021_data_t, pos_scale), "%s.%s.%s.pos-scale" },
+  { HAL_TYPE_UNSPECIFIED, HAL_DIR_UNSPECIFIED, -1, NULL }
+};
+
+static ec_pdo_entry_info_t lcec_el5021_in[] = {
+   {0x6000, 0x01,  1}, // Latch C valid
+   {0x0000, 0x00,  1}, // Gap
+   {0x6000, 0x03,  1}, // Set counter done
+   {0x6001, 0x04,  1}, // Frequency error
+   {0x6001, 0x05,  1}, // Amplitude error
+   {0x0000, 0x00,  5}, // Gap
+   {0x6000, 0x0b,  1}, // Status of input C
+   {0x0000, 0x00,  2}, // Gap
+   {0x6000, 0x0e,  1}, // Sync error
+   {0x6000, 0x0f,  1}, // TxPDO Error
+   {0x6000, 0x10,  1}, // TxPDO State
+   {0x6000, 0x11, 32}, // Counter value
+   {0x6000, 0x12, 32}, // Latch value
+};
+
+static ec_pdo_entry_info_t lcec_el5021_out[] = {
+   {0x7000, 0x01,  1}, // Enable latch C
+   {0x0000, 0x00,  1}, // Gap
+   {0x7000, 0x03,  1}, // Set counter
+   {0x0000, 0x00, 13}, // Gap
+   {0x7000, 0x11, 32}  // Set counter value
+};
+
+static ec_pdo_info_t lcec_el5021_pdos_out[] = {
+    {0x1600,  5, lcec_el5021_out}
+};
+
+static ec_pdo_info_t lcec_el5021_pdos_in[] = {
+    {0x1A00,  13, lcec_el5021_in}
+};
+
+static ec_sync_info_t lcec_el5021_syncs[] = {
+    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
+    {1, EC_DIR_INPUT,  0, NULL, EC_WD_DISABLE},
+    {2, EC_DIR_OUTPUT, 1, lcec_el5021_pdos_out, EC_WD_DISABLE},
+    {3, EC_DIR_INPUT,  1, lcec_el5021_pdos_in, EC_WD_DISABLE},
+    {0xff}
+};
+
+void lcec_el5021_read(struct lcec_slave *slave, long period);
+void lcec_el5021_write(struct lcec_slave *slave, long period);
+
+int lcec_el5021_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs) {
+  lcec_master_t *master = slave->master;
+  lcec_el5021_data_t *hal_data;
+  int err;
+
+  // initialize callbacks
+  slave->proc_read = lcec_el5021_read;
+  slave->proc_write = lcec_el5021_write;
+
+  // alloc hal memory
+  if ((hal_data = hal_malloc(sizeof(lcec_el5021_data_t))) == NULL) {
+    rtapi_print_msg(RTAPI_MSG_ERR, LCEC_MSG_PFX "hal_malloc() for slave %s.%s failed\n", master->name, slave->name);
+    return -EIO;
+  }
+  memset(hal_data, 0, sizeof(lcec_el5021_data_t));
+  slave->hal_data = hal_data;
+
+  // initializer sync info
+  slave->sync_info = lcec_el5021_syncs;
+
+  // initialize global data
+  hal_data->last_operational = 0;
+
+  // initialize PDO entries
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x01, &hal_data->latch_c_valid_pdo_os, &hal_data->latch_c_valid_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x03, &hal_data->set_counter_done_pdo_os, &hal_data->set_counter_done_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6001, 0x04, &hal_data->frequency_error_pdo_os, &hal_data->frequency_error_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6001, 0x05, &hal_data->amplitude_error_pdo_os, &hal_data->amplitude_error_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x0b, &hal_data->input_c_status_pdo_os, &hal_data->input_c_status_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x0e, &hal_data->sync_error_pdo_os, &hal_data->sync_error_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x0f, &hal_data->txpdo_error_pdo_os, &hal_data->txpdo_error_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x10, &hal_data->txpdo_state_pdo_os, &hal_data->txpdo_state_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x11, &hal_data->count_pdo_os, &hal_data->count_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x12, &hal_data->latch_value_pdo_os, &hal_data->latch_value_bitp);
+
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000, 0x01, &hal_data->enable_latch_c_pdo_os, &hal_data->enable_latch_c_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000, 0x03, &hal_data->set_counter_pdo_os, &hal_data->set_counter_bitp);
+  LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x7000, 0x11, &hal_data->set_counter_value_pdo_os, &hal_data->set_counter_value_bitp);
+
+  // export pins
+  if ((err = lcec_pin_newf_list(hal_data, slave_pins, LCEC_MODULE_NAME, master->name, slave->name)) != 0) {
+    return err;
+  }
+
+  // initialize pins
+  *(hal_data->pos_scale) = 1.0;
+
+  // initialize variables
+  hal_data->do_init = 1;
+  hal_data->last_count = 0;
+  hal_data->old_scale = *(hal_data->pos_scale) + 1.0;
+  hal_data->scale = 1.0;
+
+  return 0;
+}
+
+void lcec_el5021_read(struct lcec_slave *slave, long period) {
+  lcec_master_t *master = slave->master;
+  lcec_el5021_data_t *hal_data = (lcec_el5021_data_t *) slave->hal_data;
+  uint8_t *pd = master->process_data;
+  uint8_t raw_status;
+  int32_t raw_count, raw_latch, raw_delta;
+
+  // wait for slave to be operational
+  if (!slave->state.operational) {
+    hal_data->last_operational = 0;
+    return;
+  }
+
+  // check for change in scale value
+  if (*(hal_data->pos_scale) != hal_data->old_scale) {
+    // scale value has changed, test and update it
+    if ((*(hal_data->pos_scale) < 1e-20) && (*(hal_data->pos_scale) > -1e-20)) {
+      // value too small, divide by zero is a bad thing
+      *(hal_data->pos_scale) = 1.0;
+    }
+    // save new scale to detect future changes
+    hal_data->old_scale = *(hal_data->pos_scale);
+    // we actually want the reciprocal
+    hal_data->scale = 1.0 / *(hal_data->pos_scale);
+  }
+
+  // get bit states
+  *(hal_data->frequency_error) = EC_READ_BIT(&pd[hal_data->frequency_error_pdo_os], hal_data->frequency_error_bitp);
+  *(hal_data->amplitude_error) = EC_READ_BIT(&pd[hal_data->amplitude_error_pdo_os], hal_data->amplitude_error_bitp);
+  *(hal_data->input_c_status) = EC_READ_BIT(&pd[hal_data->input_c_status_pdo_os], hal_data->input_c_status_bitp);  
+  *(hal_data->sync_error) = EC_READ_BIT(&pd[hal_data->sync_error_pdo_os], hal_data->sync_error_bitp);
+  *(hal_data->txpdo_error) = EC_READ_BIT(&pd[hal_data->txpdo_error_pdo_os], hal_data->txpdo_error_bitp);
+  *(hal_data->txpdo_state) = EC_READ_BIT(&pd[hal_data->txpdo_state_pdo_os], hal_data->txpdo_state_bitp);
+
+  // read raw values
+  raw_count = EC_READ_S32(&pd[hal_data->count_pdo_os]);
+  raw_latch = EC_READ_S32(&pd[hal_data->latch_value_pdo_os]);
+
+  // check for operational change of slave
+  if (!hal_data->last_operational) {
+    hal_data->last_count = raw_count;
+  }
+
+  // handle initialization
+  if (hal_data->do_init) {
+    hal_data->do_init = 0;
+    hal_data->last_count = raw_count;
+    *(hal_data->count) = 0;
+  }
+
+  // handle index
+  if (EC_READ_BIT(&pd[hal_data->latch_c_valid_pdo_os], hal_data->latch_c_valid_bitp)) {
+    hal_data->last_count = raw_latch;
+    *(hal_data->count) = 0;
+    *(hal_data->index_enable) = 0;
+  }
+
+  // compute net counts
+  raw_delta = raw_count - hal_data->last_count;
+  hal_data->last_count = raw_count;
+  *(hal_data->count) += raw_delta;
+
+  // scale count to make floating point position
+  *(hal_data->pos) = *(hal_data->count) * hal_data->scale;
+
+  hal_data->last_operational = 1;
+}
+
+void lcec_el5021_write(struct lcec_slave *slave, long period) {
+  lcec_master_t *master = slave->master;
+  lcec_el5021_data_t *hal_data = (lcec_el5021_data_t *) slave->hal_data;
+  uint8_t *pd = master->process_data;
+
+  // set output data
+  if (*(hal_data->index_enable)) {
+    EC_WRITE_BIT(&pd[hal_data->enable_latch_c_pdo_os], hal_data->enable_latch_c_bitp, 1);
+  }
+}

src/lcec_el5021.h

@@ -0,0 +1,32 @@
+//
+//    Copyright (C) 2011 Sascha Ittner <[email protected]>
+//                  2021 Marius Alksnys <[email protected]>
+//
+//    This program is free software; you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation; either version 2 of the License, or
+//    (at your option) any later version.
+//
+//    This program 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
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with this program; if not, write to the Free Software
+//    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301 USA
+//
+#ifndef _LCEC_EL5021_H_
+#define _LCEC_EL5021_H_
+
+#include "lcec.h"
+
+#define LCEC_EL5021_VID LCEC_BECKHOFF_VID
+#define LCEC_EL5021_PID 0x139d3052
+
+#define LCEC_EL5021_PDOS 13
+
+int lcec_el5021_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
+
+#endif
+

src/lcec_el5101.c

@@ -157,7 +157,7 @@ int lcec_el5101_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *
   // initialize global data
   hal_data->last_operational = 0;
 
-  // initialize POD entries
+  // initialize PDO entries
   LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x01, &hal_data->status_pdo_os, NULL);
   LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x02, &hal_data->value_pdo_os, NULL);
   LCEC_PDO_INIT(pdo_entry_regs, slave->index, slave->vid, slave->pid, 0x6000, 0x03, &hal_data->latch_pdo_os, NULL);