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/***************************************************************************** |
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* |
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* This file is part of the ecapp library (EtherCAT application devices). |
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* |
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* Copyright (C) 2026 Florian Pose <fp@igh.de> |
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* |
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* The ecapp library is free software: you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation, version 3 of the |
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* License. |
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* |
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* The ecapp library is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public |
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* License along with the ecapp library. If not, see |
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* <https://www.gnu.org/licenses/>. |
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* |
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* EL6224: a 4-port IO-Link master terminal. Each port can carry a |
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* different IO-Link device with its own PDO layout and named |
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* channels, assigned at configuration time -- see |
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* EcApp::IoLinkMaster and EcApp::IoLinkDevice. This is the one |
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* ecapp terminal whose channel list is not fixed by its type alone. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_EL6224_H |
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#define ECAPP_EL6224_H |
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/****************************************************************************/ |
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#include "ecapp/IoLinkDevice.h" |
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#include "ecapp/Mode.h" |
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#include <ecrt.h> // EtherCAT realtime interface |
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#include <memory> |
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#include <pdserv.h> |
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#include <stdint.h> |
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#include <string> |
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#include <vector> |
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/****************************************************************************/ |
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namespace EcApp { |
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class Master; |
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class Domain; |
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template <Mode mode> |
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class EL6224Adapter; // EL6224.cpp -- the SubDevice wrapping this class, |
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// friended below so it can reach serv/task/prefix |
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// (to build each port's prefix) and state/stateOp |
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// (for pdserv publishing) directly. |
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template <Mode mode> |
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class EL6224 |
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{ |
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friend class EL6224Adapter<mode>; |
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public: |
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static constexpr unsigned int NumPorts = 4; |
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EL6224(pdserv *, |
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pdtask *, |
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const std::string &, |
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Master *, |
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uint16_t, |
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uint16_t, |
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Domain *, |
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Domain *); |
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/** Takes ownership of an (unconfigured) driver for one port; |
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* ports are not board slots that can be reassigned once |
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* configure() has run. */ |
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void |
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setPortDevice(unsigned int port, std::unique_ptr<IoLinkDevice> device); |
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IoLinkDevice *portDevice(unsigned int port); |
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const IoLinkDevice *portDevice(unsigned int port) const; |
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/** Pushes the dynamic PDO/SDO configuration for every assigned |
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* port. A no-op if this instance has no real slave config |
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* (master was null at construction). */ |
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void configure(); |
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void updateInputs(); |
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void updateOutputs(); |
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uint16_t portState(unsigned int port) const { return state[port]; } |
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bool portStateOp(unsigned int port) const { return stateOp[port]; } |
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private: |
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ec_slave_config_t *sc; |
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Domain *const domainOut; |
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Domain *const domainIn; |
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pdserv *const serv; |
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pdtask *const task; |
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const std::string prefix; |
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int offState; |
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std::vector<uint8_t> state; |
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std::vector<uint8_t> stateOp; |
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std::vector<std::unique_ptr<IoLinkDevice>> devices; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_EL6224_H |
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/****************************************************************************/ |
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