El3314 Driver

.gitignore

@@ -4,7 +4,8 @@
 # swap files
 *.swp
 *.swo
-
+*.swn
+*.swb
 
 # Ignore folders
 build
@@ -17,4 +18,4 @@ bin
 .doxyfile
 
 # clang-format
-.clang-format
+.clang-format

src/CMakeLists.txt

@@ -5,27 +5,32 @@ add_library(jsd-lib STATIC
     jsd_common_device_types.c
     jsd_elmo_common.c
     jsd_epd_common.c
+    jsd_timer.c
 
     # Devices
-    jsd_el3602.c
-    jsd_el3208.c
-    jsd_el2124.c
-    jsd_el2809.c
     jsd_egd.c
-    jsd_el3356.c
-    jsd_jed0101.c
-    jsd_jed0200.c
-    jsd_timer.c
+    jsd_epd_nominal.c
+    jsd_epd_sil.c
+
     jsd_ati_fts.c
-    jsd_el3104.c
+
     jsd_el1008.c
+    jsd_el2124.c
+    jsd_el2809.c
+    jsd_el3104.c
+    jsd_el3162.c
     jsd_el3202.c
+    jsd_el3208.c
+    jsd_el3314.c
     jsd_el3318.c
-    jsd_el3162.c
+    jsd_el3356.c
+    jsd_el3602.c
     jsd_el4102.c
+
     jsd_ild1900.c
-    jsd_epd_nominal.c
-    jsd_epd_sil.c
+
+    jsd_jed0101.c
+    jsd_jed0200.c
     )
 
 message(STATUS "SOEM INCLUDE DIRS: ${SOEM_INCLUDE_DIRS}")

src/jsd.c

@@ -15,6 +15,7 @@
 #include "jsd/jsd_el3162.h"
 #include "jsd/jsd_el3202.h"
 #include "jsd/jsd_el3208.h"
+#include "jsd/jsd_el3314.h"
 #include "jsd/jsd_el3318.h"
 #include "jsd/jsd_el3356.h"
 #include "jsd/jsd_el3602.h"
@@ -468,6 +469,8 @@ const char* jsd_driver_type_to_string(jsd_driver_type_t driver_type) {
       return "JSD_DRIVER_TYPE_EL3202";
     case JSD_DRIVER_TYPE_EL3208:
       return "JSD_DRIVER_TYPE_EL3208";
+    case JSD_DRIVER_TYPE_EL3314:
+      return "JSD_DRIVER_TYPE_EL3314";
     case JSD_DRIVER_TYPE_EL3318:
       return "JSD_DRIVER_TYPE_EL3318";
     case JSD_DRIVER_TYPE_EL3356:
@@ -587,6 +590,9 @@ bool jsd_driver_is_compatible_with_product_code(jsd_driver_type_t driver_type,
     case JSD_DRIVER_TYPE_EL3202:
       is_compatible = jsd_el3202_product_code_is_compatible(product_code);
       break;
+    case JSD_DRIVER_TYPE_EL3314:
+      is_compatible = jsd_el3314_product_code_is_compatible(product_code);
+      break;
     case JSD_DRIVER_TYPE_EL3318:
       is_compatible = jsd_el3318_product_code_is_compatible(product_code);
       break;
@@ -654,6 +660,9 @@ bool jsd_init_single_device(jsd_t* self, uint16_t slave_id) {
     case JSD_DRIVER_TYPE_EL3104:
       return jsd_el3104_init(self, slave_id);
       break;
+    case JSD_DRIVER_TYPE_EL3314:
+      return jsd_el3314_init(self, slave_id);
+      break;
     case JSD_DRIVER_TYPE_EL3318:
       return jsd_el3318_init(self, slave_id);
       break;

src/jsd_el3314.c

@@ -0,0 +1,167 @@
+#include "jsd/jsd_el3314.h"
+
+#include <assert.h>
+#include <string.h>
+
+#include "jsd/jsd_sdo.h"
+
+const char* jsd_el3314_element_strings[] = {
+    [JSD_EL3314_ELEMENT_TYPE_K] = "TYPE_K",
+    [JSD_EL3314_ELEMENT_TYPE_J] = "TYPE_J",
+    [JSD_EL3314_ELEMENT_TYPE_L] = "TYPE_L",
+    [JSD_EL3314_ELEMENT_TYPE_E] = "TYPE_E",
+    [JSD_EL3314_ELEMENT_TYPE_T] = "TYPE_T",
+    [JSD_EL3314_ELEMENT_TYPE_N] = "TYPE_N",
+    [JSD_EL3314_ELEMENT_TYPE_U] = "TYPE_U",
+    [JSD_EL3314_ELEMENT_TYPE_B] = "TYPE_B",
+    [JSD_EL3314_ELEMENT_TYPE_R] = "TYPE_R",
+    [JSD_EL3314_ELEMENT_TYPE_S] = "TYPE_S",
+    [JSD_EL3314_ELEMENT_TYPE_C] = "TYPE_C",
+};
+
+const char* jsd_el3314_presentation_strings[] = {
+    [JSD_EL3314_PRESENTATION_SIGNED]   = "Signed",
+    [1]                                = "unused presentation",
+    [JSD_EL3314_PRESENTATION_HIGH_RES] = "High Res",
+};
+
+/****************************************************
+ * Public functions
+ ****************************************************/
+const jsd_el3314_state_t* jsd_el3314_get_state(jsd_t* self, uint16_t slave_id) {
+  assert(self);
+  assert(jsd_el3314_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+
+  return &self->slave_states[slave_id].el3314;
+}
+
+void jsd_el3314_read(jsd_t* self, uint16_t slave_id) {
+  assert(self);
+  assert(jsd_el3314_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+
+  jsd_el3314_state_t*  state  = &self->slave_states[slave_id].el3314;
+  jsd_el3314_config_t* config = &self->slave_configs[slave_id].el3314;
+
+  jsd_el3314_txpdo_t* txpdo =
+      (jsd_el3314_txpdo_t*)self->ecx_context.slavelist[slave_id].inputs;
+
+  int ch;
+  for (ch = 0; ch < JSD_EL3314_NUM_CHANNELS; ch++) {
+    state->adc_value[ch] = txpdo->channel[ch].value;
+    state->output_eu[ch] =
+        jsd_el3314_output_from_config(txpdo->channel[ch].value, config, ch);
+
+    state->underrange[ch]   = (txpdo->channel[ch].flags >> 0) & 0x01;
+    state->overrange[ch]    = (txpdo->channel[ch].flags >> 1) & 0x01;
+    state->error[ch]        = (txpdo->channel[ch].flags >> 6) & 0x01;
+    state->txPDO_state[ch]  = (txpdo->channel[ch].flags >> 14) & 0x01;
+    state->txPDO_toggle[ch] = (txpdo->channel[ch].flags >> 15) & 0x01;
+  }
+}
+
+/****************************************************
+ * Private functions
+ ****************************************************/
+
+bool jsd_el3314_init(jsd_t* self, uint16_t slave_id) {
+  assert(self);
+  assert(jsd_el3314_product_code_is_compatible(
+      self->ecx_context.slavelist[slave_id].eep_id));
+  assert(self->ecx_context.slavelist[slave_id].eep_man ==
+         JSD_BECKHOFF_VENDOR_ID);
+
+  ec_slavet* slaves = self->ecx_context.slavelist;
+  ec_slavet* slave  = &slaves[slave_id];
+
+  slave->PO2SOconfigx = jsd_el3314_PO2SO_config;
+
+  return true;
+}
+
+int jsd_el3314_PO2SO_config(ecx_contextt* ecx_context, uint16_t slave_id) {
+  assert(ecx_context);
+  assert(jsd_el3314_product_code_is_compatible(
+      ecx_context->slavelist[slave_id].eep_id));
+
+  // cast the void* to slave_config
+  jsd_slave_config_t* slave_configs =
+      (jsd_slave_config_t*)ecx_context->userdata;
+
+  jsd_slave_config_t* config = &slave_configs[slave_id];
+
+  // Reset to factory default
+  uint32_t reset_word = JSD_BECKHOFF_RESET_WORD;
+  if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, JSD_BECKHOFF_RESET_SDO,
+                                  JSD_BECKHOFF_RESET_SUBIND, JSD_SDO_DATA_U32,
+                                  &reset_word)) {
+    return 0;
+  }
+
+  MSG("Configuring slave no: %u,  SII inferred name: %s", slave_id,
+      ecx_context->slavelist[slave_id].name);
+  MSG("\t Configured name: %s", config->name);
+
+  int ch;
+  for (ch = 0; ch < JSD_EL3314_NUM_CHANNELS; ch++) {
+    MSG("\t Ch%d Config:", ch);
+    MSG("\t\tElement: %s",
+        jsd_el3314_element_strings[config->el3314.element[ch]]);
+    MSG("\t\tFilter: %s",
+        jsd_beckhoff_filter_strings[config->el3314.filter[ch]]);
+    MSG("\t\tPresentation: %s",
+        jsd_el3314_presentation_strings[config->el3314.presentation[ch]]);
+
+    // register is 0x80n0, where n is channel number (e.g. ch4 = 0x8040)
+    uint32_t sdo_channel_index = 0x8000 + (0x10 * ch);
+
+    uint16_t element = config->el3314.element[ch];
+    if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
+                                    0x19, JSD_SDO_DATA_U16, &element)) {
+      return 0;
+    }
+
+    uint16_t filter = config->el3314.filter[ch];
+    if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
+                                    0x15, JSD_SDO_DATA_U16, &filter)) {
+      return 0;
+    }
+
+    uint8_t presentation = config->el3314.presentation[ch];
+    if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, sdo_channel_index,
+                                    0x02, JSD_SDO_DATA_U8, &presentation)) {
+      return 0;
+    }
+  }
+
+  config->PO2SO_success = true;
+  return 1;
+}
+
+double jsd_el3314_output_from_config(int16_t              adc_value,
+                                     jsd_el3314_config_t* config,
+                                     uint16_t             channel) {
+  assert(config->presentation[channel] < JSD_EL3314_NUM_PRESENTATIONS);
+  assert(config->element[channel] < JSD_EL3314_NUM_ELEMENTS);
+
+  double temp_scale_factor = 1;
+
+  switch (config->presentation[channel]) {
+    case JSD_EL3314_PRESENTATION_SIGNED:
+      temp_scale_factor = 0.1;
+      break;
+    case JSD_EL3314_PRESENTATION_HIGH_RES:
+      temp_scale_factor = 0.01;
+      break;
+    default:
+      WARNING("Bad/Unsupported presentation setting");
+      break;
+  }
+
+  return (double)adc_value * temp_scale_factor;
+}
+
+bool jsd_el3314_product_code_is_compatible(uint32_t product_code) {
+  return product_code == JSD_EL3314_PRODUCT_CODE;
+}

src/jsd_el3314.h

@@ -0,0 +1,63 @@
+#ifndef JSD_EL3314_H
+#define JSD_EL3314_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "jsd/jsd_el3314_pub.h"
+
+/**
+ * @brief Private IOmap channel struct used to retreive input data from SOEM
+ * IOmap
+ */
+typedef struct __attribute__((__packed__)) {
+  uint16_t flags;
+  int16_t  value;
+} jsd_el3314_channel_txpdo_t;
+
+/**
+ * @brief Private IOmap struct used to retreive input data from SOEM IOmap
+ */
+typedef struct __attribute__((__packed__)) {
+  jsd_el3314_channel_txpdo_t channel[JSD_EL3314_NUM_CHANNELS];
+} jsd_el3314_txpdo_t;
+
+/** @brief Initializes el3314 and registers the PO2SO function
+ *
+ * @param self pointer JSD context
+ * @param slave_id index of device on EtherCAT bus
+ * @return true on success, false on failure
+ */
+bool jsd_el3314_init(jsd_t* self, uint16_t slave_id);
+
+/**
+ * @brief Configuration function called by SOEM upon a PreOp to SafeOp state
+ * transition that (re)configures el3314 device settings
+ *
+ * @param ecx_context SOEM context pointer
+ * @param slave_id index of device on EtherCAT bus
+ * @return 1 on success, 0 on failure
+ */
+int jsd_el3314_PO2SO_config(ecx_contextt* ecx_context, uint16_t slave_id);
+
+/**
+ * @brief Computes the state output_eu field using device config
+ */
+double jsd_el3314_output_from_config(int16_t              adc_value,
+                                     jsd_el3314_config_t* config,
+                                     uint16_t             channel);
+
+/**
+ * @brief Checks whether a product code is compatible with EL3314.
+ *
+ * @param product_code The product code to be checked
+ * @return True if the product code is compatible, false otherwise.
+ */
+bool jsd_el3314_product_code_is_compatible(uint32_t product_code);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

src/jsd_el3314_pub.h

@@ -0,0 +1,31 @@
+#ifndef JSD_EL3314_PUB_H
+#define JSD_EL3314_PUB_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "jsd/jsd_pub.h"
+
+/**
+ * @brief Reads EL3314 state
+ *
+ * @param self Pointer to JSD context
+ * @param slave_id id of EL3314 device
+ * @return Pointer to EL3314 state
+ */
+const jsd_el3314_state_t* jsd_el3314_get_state(jsd_t* self, uint16_t slave_id);
+
+/**
+ * @brief Converts raw PDO data to state data
+ *
+ * @param self pointer to JSD context
+ * @param slave_id id of EL3314 device
+ */
+void jsd_el3314_read(jsd_t* self, uint16_t slave_id);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif