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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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* Beckhoff/Wago-style digital input terminals with a uniform PDO shape |
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* (one bit per channel, no diagnosis): EL1004, EL1008, EL1014, EL1018, |
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* EL1808, EL1809, EPP1008. This grouping is an implementation detail -- |
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* application code never names Ex1xxx directly, it goes through |
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* createSubDevice("EL1008") and gets an EcApp::SubDevice back. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_EX1XXX_H |
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#define ECAPP_EX1XXX_H |
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/****************************************************************************/ |
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#include "ecapp/Mode.h" |
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#include <ecrt.h> // EtherCAT realtime interface |
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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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struct Ex1xxxType; |
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template <Mode mode> |
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class Ex1xxxAdapter; // Ex1xxx.cpp -- the SubDevice wrapping this class, |
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// friended below so it can reach `input` directly |
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// for pdserv publishing. |
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template <Mode mode> |
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class Ex1xxx |
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{ |
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friend class Ex1xxxAdapter<mode>; |
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public: |
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enum Type { |
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EL1004, |
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EL1008, |
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EL1014, |
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EL1018, |
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EL1808, |
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EL1809, |
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EPP1008, |
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NumTypes |
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}; |
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Ex1xxx(Master *, uint16_t, uint16_t, Domain *, Type); |
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Ex1xxx() = delete; |
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void update(); |
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bool getInput(unsigned int) const; // Control |
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void setInput(unsigned int, bool); // Simulation |
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unsigned int numChannels() const; |
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private: |
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const Ex1xxxType &type; |
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ec_slave_config_t *sc; |
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Domain *const domain; |
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int off_in; |
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std::vector<uint8_t> input; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_EX1XXX_H |
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/****************************************************************************/ |
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