| Directory: | ./ |
|---|---|
| File: | src/devices/Ex1xxx.cpp |
| Date: | 2026-09-23 16:22:15 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 42 | 73 | 57.5% |
| Branches: | 23 | 202 | 11.4% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /***************************************************************************** | ||
| 2 | * | ||
| 3 | * This file is part of the ecapp library (EtherCAT application devices). | ||
| 4 | * | ||
| 5 | * Copyright (C) 2026 Florian Pose <fp@igh.de> | ||
| 6 | * | ||
| 7 | * The ecapp library is free software: you can redistribute it and/or | ||
| 8 | * modify it under the terms of the GNU Lesser General Public License | ||
| 9 | * as published by the Free Software Foundation, version 3 of the | ||
| 10 | * License. | ||
| 11 | * | ||
| 12 | * The ecapp library is distributed in the hope that it will be useful, | ||
| 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| 15 | * Lesser General Public License for more details. | ||
| 16 | * | ||
| 17 | * You should have received a copy of the GNU Lesser General Public | ||
| 18 | * License along with the ecapp library. If not, see | ||
| 19 | * <https://www.gnu.org/licenses/>. | ||
| 20 | * | ||
| 21 | ****************************************************************************/ | ||
| 22 | |||
| 23 | #include "devices/Ex1xxx.h" | ||
| 24 | |||
| 25 | #include "SlaveContext.h" | ||
| 26 | #include "ecapp/Domain.h" | ||
| 27 | #include "ecapp/Exceptions.h" | ||
| 28 | #include "ecapp/Factory.h" | ||
| 29 | #include "ecapp/Master.h" | ||
| 30 | #include "ecapp/SwappedSync.h" | ||
| 31 | |||
| 32 | #include <memory> | ||
| 33 | #include <sstream> | ||
| 34 | #include <stdexcept> | ||
| 35 | |||
| 36 | /****************************************************************************/ | ||
| 37 | |||
| 38 | using std::make_unique; | ||
| 39 | using std::runtime_error; | ||
| 40 | using std::size_t; | ||
| 41 | using std::stringstream; | ||
| 42 | using std::unique_ptr; | ||
| 43 | |||
| 44 | namespace EcApp { | ||
| 45 | |||
| 46 | /* | ||
| 47 | * EL1004, EL1014 | ||
| 48 | */ | ||
| 49 | |||
| 50 | ec_pdo_entry_info_t el10x4_pdo_entries[] = { | ||
| 51 | {0x6000, 0x01, 1}, /* Input */ | ||
| 52 | {0x6010, 0x01, 1}, /* Input */ | ||
| 53 | {0x6020, 0x01, 1}, /* Input */ | ||
| 54 | {0x6030, 0x01, 1}, /* Input */ | ||
| 55 | }; | ||
| 56 | |||
| 57 | ec_pdo_info_t el10x4_pdos[] = { | ||
| 58 | {0x1a00, 1, el10x4_pdo_entries + 0}, /* Channel 1 */ | ||
| 59 | {0x1a01, 1, el10x4_pdo_entries + 1}, /* Channel 2 */ | ||
| 60 | {0x1a02, 1, el10x4_pdo_entries + 2}, /* Channel 3 */ | ||
| 61 | {0x1a03, 1, el10x4_pdo_entries + 3}, /* Channel 4 */ | ||
| 62 | }; | ||
| 63 | |||
| 64 | ec_sync_info_t el10x4_syncs[] = { | ||
| 65 | {0, EC_DIR_INPUT, 4, el10x4_pdos + 0, EC_WD_DISABLE}, | ||
| 66 | {0xff}}; | ||
| 67 | |||
| 68 | /* | ||
| 69 | * EL1008, EL1018, EPP1008-0001 | ||
| 70 | */ | ||
| 71 | |||
| 72 | ec_pdo_entry_info_t ex10x8_pdo_entries[] = { | ||
| 73 | {0x6000, 0x01, 1}, /* Input */ | ||
| 74 | {0x6010, 0x01, 1}, /* Input */ | ||
| 75 | {0x6020, 0x01, 1}, /* Input */ | ||
| 76 | {0x6030, 0x01, 1}, /* Input */ | ||
| 77 | {0x6040, 0x01, 1}, /* Input */ | ||
| 78 | {0x6050, 0x01, 1}, /* Input */ | ||
| 79 | {0x6060, 0x01, 1}, /* Input */ | ||
| 80 | {0x6070, 0x01, 1}, /* Input */ | ||
| 81 | }; | ||
| 82 | |||
| 83 | ec_pdo_info_t ex10x8_pdos[] = { | ||
| 84 | {0x1a00, 1, ex10x8_pdo_entries + 0}, /* Channel 1 */ | ||
| 85 | {0x1a01, 1, ex10x8_pdo_entries + 1}, /* Channel 2 */ | ||
| 86 | {0x1a02, 1, ex10x8_pdo_entries + 2}, /* Channel 3 */ | ||
| 87 | {0x1a03, 1, ex10x8_pdo_entries + 3}, /* Channel 4 */ | ||
| 88 | {0x1a04, 1, ex10x8_pdo_entries + 4}, /* Channel 5 */ | ||
| 89 | {0x1a05, 1, ex10x8_pdo_entries + 5}, /* Channel 6 */ | ||
| 90 | {0x1a06, 1, ex10x8_pdo_entries + 6}, /* Channel 7 */ | ||
| 91 | {0x1a07, 1, ex10x8_pdo_entries + 7}, /* Channel 8 */ | ||
| 92 | }; | ||
| 93 | |||
| 94 | ec_sync_info_t ex10x8_syncs[] = { | ||
| 95 | {0, EC_DIR_INPUT, 8, ex10x8_pdos + 0, EC_WD_DISABLE}, | ||
| 96 | {0xff}}; | ||
| 97 | |||
| 98 | /* Master 0, Slave 3, "EL1809" | ||
| 99 | * Vendor ID: 0x00000002 | ||
| 100 | * Product code: 0x07113052 | ||
| 101 | * Revision number: 0x00120000 | ||
| 102 | */ | ||
| 103 | |||
| 104 | ec_pdo_entry_info_t el1809_pdo_entries[] = { | ||
| 105 | {0x6000, 0x01, 1}, /* Input */ | ||
| 106 | {0x6010, 0x01, 1}, /* Input */ | ||
| 107 | {0x6020, 0x01, 1}, /* Input */ | ||
| 108 | {0x6030, 0x01, 1}, /* Input */ | ||
| 109 | {0x6040, 0x01, 1}, /* Input */ | ||
| 110 | {0x6050, 0x01, 1}, /* Input */ | ||
| 111 | {0x6060, 0x01, 1}, /* Input */ | ||
| 112 | {0x6070, 0x01, 1}, /* Input */ | ||
| 113 | {0x6080, 0x01, 1}, /* Input */ | ||
| 114 | {0x6090, 0x01, 1}, /* Input */ | ||
| 115 | {0x60a0, 0x01, 1}, /* Input */ | ||
| 116 | {0x60b0, 0x01, 1}, /* Input */ | ||
| 117 | {0x60c0, 0x01, 1}, /* Input */ | ||
| 118 | {0x60d0, 0x01, 1}, /* Input */ | ||
| 119 | {0x60e0, 0x01, 1}, /* Input */ | ||
| 120 | {0x60f0, 0x01, 1}, /* Input */ | ||
| 121 | }; | ||
| 122 | |||
| 123 | ec_pdo_info_t el1809_pdos[] = { | ||
| 124 | {0x1a00, 1, el1809_pdo_entries + 0}, /* Channel 1 */ | ||
| 125 | {0x1a01, 1, el1809_pdo_entries + 1}, /* Channel 2 */ | ||
| 126 | {0x1a02, 1, el1809_pdo_entries + 2}, /* Channel 3 */ | ||
| 127 | {0x1a03, 1, el1809_pdo_entries + 3}, /* Channel 4 */ | ||
| 128 | {0x1a04, 1, el1809_pdo_entries + 4}, /* Channel 5 */ | ||
| 129 | {0x1a05, 1, el1809_pdo_entries + 5}, /* Channel 6 */ | ||
| 130 | {0x1a06, 1, el1809_pdo_entries + 6}, /* Channel 7 */ | ||
| 131 | {0x1a07, 1, el1809_pdo_entries + 7}, /* Channel 8 */ | ||
| 132 | {0x1a08, 1, el1809_pdo_entries + 8}, /* Channel 9 */ | ||
| 133 | {0x1a09, 1, el1809_pdo_entries + 9}, /* Channel 10 */ | ||
| 134 | {0x1a0a, 1, el1809_pdo_entries + 10}, /* Channel 11 */ | ||
| 135 | {0x1a0b, 1, el1809_pdo_entries + 11}, /* Channel 12 */ | ||
| 136 | {0x1a0c, 1, el1809_pdo_entries + 12}, /* Channel 13 */ | ||
| 137 | {0x1a0d, 1, el1809_pdo_entries + 13}, /* Channel 14 */ | ||
| 138 | {0x1a0e, 1, el1809_pdo_entries + 14}, /* Channel 15 */ | ||
| 139 | {0x1a0f, 1, el1809_pdo_entries + 15}, /* Channel 16 */ | ||
| 140 | }; | ||
| 141 | |||
| 142 | ec_sync_info_t el1809_syncs[] = { | ||
| 143 | {0, EC_DIR_INPUT, 16, el1809_pdos + 0, EC_WD_DISABLE}, | ||
| 144 | {0xff}}; | ||
| 145 | |||
| 146 | /****************************************************************************/ | ||
| 147 | |||
| 148 | struct Ex1xxxType | ||
| 149 | { | ||
| 150 | const char *name; | ||
| 151 | uint32_t product_code; | ||
| 152 | unsigned int num_channels; | ||
| 153 | ec_sync_info_t *sync; | ||
| 154 | }; | ||
| 155 | |||
| 156 | const static Ex1xxxType ex1xxxType[Ex1xxx<Mode::Control>::NumTypes] = { | ||
| 157 | {"EL1004", 0x03ec3052, 4, el10x4_syncs}, | ||
| 158 | {"EL1008", 0x03f03052, 8, ex10x8_syncs}, | ||
| 159 | {"EL1014", 0x03f63052, 4, el10x4_syncs}, | ||
| 160 | {"EL1018", 0x03fa3052, 8, ex10x8_syncs}, | ||
| 161 | {"EL1808", 0x07103052, 8, ex10x8_syncs}, | ||
| 162 | {"EL1809", 0x07113052, 16, el1809_syncs}, | ||
| 163 | {"EPP1008", 0x64760509, 8, ex10x8_syncs}, | ||
| 164 | }; | ||
| 165 | |||
| 166 | /****************************************************************************/ | ||
| 167 | |||
| 168 | template <Mode mode> | ||
| 169 | 1 | Ex1xxx<mode>::Ex1xxx( | |
| 170 | Master *master, | ||
| 171 | uint16_t alias, | ||
| 172 | uint16_t position, | ||
| 173 | Domain *domain, | ||
| 174 | Type typeIdx) : | ||
| 175 | 1 | type(ex1xxxType[typeIdx]), | |
| 176 | sc {nullptr}, | ||
| 177 | domain(domain), | ||
| 178 | off_in {0}, | ||
| 179 |
1/4✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✗ Branch 10 not taken.
✗ Branch 11 not taken.
|
1 | input(type.num_channels, false) |
| 180 | { | ||
| 181 | // pdserv publishing ("Input", published as pd_boolean_T even | ||
| 182 | // though stored as uint8_t) happens in Ex1xxxAdapter's constructor | ||
| 183 | // below, via SubDevice::registerInputChannel() -- that is also | ||
| 184 | // what makes this channel alias-able through SubDevice::setAlias(). | ||
| 185 | |||
| 186 |
1/4✓ Branch 0 taken 1 times.
✗ Branch 1 not taken.
✗ Branch 2 not taken.
✗ Branch 3 not taken.
|
1 | if (!master) { |
| 187 | 1 | return; | |
| 188 | } | ||
| 189 | |||
| 190 | ✗ | sc = ecrt_master_slave_config( | |
| 191 | master->getMaster(), alias, position, 0x00000002, | ||
| 192 | ✗ | type.product_code); | |
| 193 | ✗ | if (!sc) { | |
| 194 | ✗ | stringstream err; | |
| 195 | ✗ | err << "Failed to get slave configuration."; | |
| 196 | ✗ | throw runtime_error(err.str()); | |
| 197 | } | ||
| 198 | |||
| 199 | ✗ | if (ecrt_slave_config_pdos( | |
| 200 | ✗ | sc, EC_END, SwappedSync<mode>(type.sync).getSync())) { | |
| 201 | ✗ | stringstream err; | |
| 202 | ✗ | err << "Failed to configure PDOs."; | |
| 203 | ✗ | throw runtime_error(err.str()); | |
| 204 | } | ||
| 205 | |||
| 206 | ✗ | off_in = ecrt_slave_config_reg_pdo_entry( | |
| 207 | sc, 0x6000, 0x01, domain->getDomain(), NULL); | ||
| 208 | ✗ | if (off_in < 0) { | |
| 209 | ✗ | stringstream err; | |
| 210 | ✗ | err << "Failed to register Ex1xxx value PDO entry."; | |
| 211 | ✗ | throw runtime_error(err.str()); | |
| 212 | } | ||
| 213 | } | ||
| 214 | |||
| 215 | /****************************************************************************/ | ||
| 216 | |||
| 217 | template <Mode mode> | ||
| 218 | 1 | void Ex1xxx<mode>::update() | |
| 219 | { | ||
| 220 |
1/4✗ Branch 1 not taken.
✓ Branch 2 taken 1 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
|
1 | if (domain->getData()) { |
| 221 | ✗ | for (unsigned int i = 0; i < type.num_channels; i++) { | |
| 222 | ✗ | input[i] = getInput(i); | |
| 223 | } | ||
| 224 | } | ||
| 225 | 1 | } | |
| 226 | |||
| 227 | /****************************************************************************/ | ||
| 228 | |||
| 229 | template <Mode mode> | ||
| 230 | 3 | bool Ex1xxx<mode>::getInput(unsigned int channel) const | |
| 231 | { | ||
| 232 |
2/12✗ Branch 1 not taken.
✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
✓ Branch 6 taken 3 times.
✗ Branch 8 not taken.
✗ Branch 9 not taken.
✗ Branch 10 not taken.
✗ Branch 11 not taken.
✗ Branch 12 not taken.
✗ Branch 13 not taken.
|
3 | if (domain->getData() && channel < type.num_channels) { |
| 233 | ✗ | const unsigned int byteOffset = channel / 8; | |
| 234 | ✗ | const unsigned int bitOffset = channel % 8; | |
| 235 | |||
| 236 | ✗ | return EC_READ_BIT( | |
| 237 | domain->getData() + off_in + byteOffset, bitOffset); | ||
| 238 | } | ||
| 239 | else { | ||
| 240 | 3 | return false; | |
| 241 | } | ||
| 242 | } | ||
| 243 | |||
| 244 | /****************************************************************************/ | ||
| 245 | |||
| 246 | template <Mode mode> | ||
| 247 | ✗ | void Ex1xxx<mode>::setInput(unsigned int channel, bool value) | |
| 248 | { | ||
| 249 | ✗ | if (domain->getData() && channel < type.num_channels) { | |
| 250 | ✗ | const unsigned int byteOffset = channel / 8; | |
| 251 | ✗ | const unsigned int bitOffset = channel % 8; | |
| 252 | |||
| 253 | ✗ | EC_WRITE_BIT( | |
| 254 | domain->getData() + off_in + byteOffset, bitOffset, value); | ||
| 255 | } | ||
| 256 | } | ||
| 257 | |||
| 258 | /****************************************************************************/ | ||
| 259 | |||
| 260 | template <Mode mode> | ||
| 261 | 1 | unsigned int Ex1xxx<mode>::numChannels() const | |
| 262 | { | ||
| 263 | 1 | return type.num_channels; | |
| 264 | } | ||
| 265 | |||
| 266 | /****************************************************************************/ | ||
| 267 | |||
| 268 | template class Ex1xxx<Mode::Control>; | ||
| 269 | template class Ex1xxx<Mode::Simulation>; | ||
| 270 | |||
| 271 | /****************************************************************************/ | ||
| 272 | // Generic SubDevice adapter: pure digital input, no outputs. Application | ||
| 273 | // code never names Ex1xxx, only e.g. "EL1008" -- the factory resolves it. | ||
| 274 | /****************************************************************************/ | ||
| 275 | |||
| 276 | template <Mode mode> | ||
| 277 | 2 | class Ex1xxxAdapter : public SubDevice | |
| 278 | { | ||
| 279 | public: | ||
| 280 | 1 | Ex1xxxAdapter(const SlaveContext &ctx, typename Ex1xxx<mode>::Type t) : | |
| 281 | 1 | SubDevice(nullptr, ctx.domainIn, ctx.pdServ, ctx.task, ctx.prefix), | |
| 282 | 3 | device(ctx.master, ctx.alias, ctx.position, ctx.domainIn, t), | |
| 283 |
7/28✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 1 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 1 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 1 times.
✗ Branch 14 not taken.
✓ Branch 17 taken 1 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 1 times.
✓ Branch 21 taken 1 times.
✗ Branch 28 not taken.
✗ Branch 29 not taken.
✗ Branch 38 not taken.
✗ Branch 39 not taken.
✗ Branch 42 not taken.
✗ Branch 43 not taken.
✗ Branch 46 not taken.
✗ Branch 47 not taken.
✗ Branch 49 not taken.
✗ Branch 50 not taken.
✗ Branch 53 not taken.
✗ Branch 54 not taken.
✗ Branch 56 not taken.
✗ Branch 57 not taken.
✗ Branch 64 not taken.
✗ Branch 65 not taken.
|
5 | inputKinds_ {{"Input", device.numChannels(), false}} |
| 284 | { | ||
| 285 |
2/8✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
✗ Branch 13 not taken.
✗ Branch 14 not taken.
✗ Branch 16 not taken.
✗ Branch 17 not taken.
|
1 | registerInputChannel("Input", device.input, AsBoolean {}); |
| 286 | 1 | } | |
| 287 | |||
| 288 | 1 | void updateInputs() override { device.update(); } | |
| 289 | ✗ | void updateOutputs() override {} | |
| 290 | |||
| 291 | 10 | const std::vector<ChannelKind> &inputKinds() const override | |
| 292 | { | ||
| 293 | 10 | return inputKinds_; | |
| 294 | } | ||
| 295 | 2 | const std::vector<ChannelKind> &outputKinds() const override | |
| 296 | { | ||
| 297 | 2 | return outputKinds_; | |
| 298 | } | ||
| 299 | |||
| 300 | protected: | ||
| 301 | 3 | ChannelValue getInputAt(size_t i) const override | |
| 302 | { | ||
| 303 | 3 | return device.getInput(static_cast<unsigned int>(i)); | |
| 304 | } | ||
| 305 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 306 | { | ||
| 307 | ✗ | throw UnknownChannel("Ex1xxx has no output channels."); | |
| 308 | } | ||
| 309 | |||
| 310 | private: | ||
| 311 | Ex1xxx<mode> device; | ||
| 312 | std::vector<ChannelKind> inputKinds_; | ||
| 313 | std::vector<ChannelKind> outputKinds_; | ||
| 314 | }; | ||
| 315 | |||
| 316 | /****************************************************************************/ | ||
| 317 | |||
| 318 | namespace { | ||
| 319 | |||
| 320 | 84 | DeviceFactoryFn makeEx1xxxFactory(unsigned int typeIdx) | |
| 321 | { | ||
| 322 | 2 | return [typeIdx](const SlaveContext &ctx) -> unique_ptr<SubDevice> { | |
| 323 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 1 times.
|
1 | if (ctx.mode == Mode::Control) { |
| 324 | ✗ | return make_unique<Ex1xxxAdapter<Mode::Control>>( | |
| 325 | ✗ | ctx, static_cast<Ex1xxx<Mode::Control>::Type>(typeIdx)); | |
| 326 | } | ||
| 327 | else { | ||
| 328 |
1/2✓ Branch 1 taken 1 times.
✗ Branch 2 not taken.
|
2 | return make_unique<Ex1xxxAdapter<Mode::Simulation>>( |
| 329 | ctx, | ||
| 330 | 3 | static_cast<Ex1xxx<Mode::Simulation>::Type>(typeIdx)); | |
| 331 | } | ||
| 332 | 84 | }; | |
| 333 | } | ||
| 334 | |||
| 335 | struct Ex1xxxRegistrations | ||
| 336 | { | ||
| 337 | 12 | Ex1xxxRegistrations() | |
| 338 | { | ||
| 339 |
2/2✓ Branch 0 taken 84 times.
✓ Branch 1 taken 12 times.
|
96 | for (unsigned int i = 0; i < Ex1xxx<Mode::Control>::NumTypes; i++) { |
| 340 | 84 | const auto &t = ex1xxxType[i]; | |
| 341 |
4/8✓ Branch 3 taken 84 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 84 times.
✗ Branch 8 not taken.
✓ Branch 10 taken 84 times.
✗ Branch 11 not taken.
✓ Branch 13 taken 84 times.
✗ Branch 14 not taken.
|
420 | Registry::instance().add( |
| 342 | 168 | {t.name, __FILE__, 0x00000002, t.product_code, | |
| 343 |
1/2✓ Branch 1 taken 84 times.
✗ Branch 2 not taken.
|
168 | AnyRevision, wrapFactory(makeEx1xxxFactory(i))}); |
| 344 | } | ||
| 345 | 12 | } | |
| 346 | 12 | } ex1xxxRegistrations; | |
| 347 | |||
| 348 | } // namespace | ||
| 349 | |||
| 350 | 36 | } // namespace EcApp | |
| 351 | |||
| 352 | /****************************************************************************/ | ||
| 353 |