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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 output terminals with a uniform PDO shape |
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* (one bit per channel, optional per-channel diagnosis bit): EL2004, |
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* EL2008, EL2024, EL2034, EP2028-0032, EL2521, EL2622, EL2808. This |
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* grouping is an implementation detail -- application code never names |
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* Ex20xx directly, it goes through createSubDevice("EL2008") and gets |
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* an EcApp::SubDevice back. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_EX20XX_H |
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#define ECAPP_EX20XX_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 <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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struct Ex20xxType; |
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template <Mode mode> |
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class Ex20xx |
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{ |
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public: |
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enum Type { |
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EL2004, |
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EL2008, |
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EL2024, |
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EL2034, |
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EP2028_0032, |
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EL2521, |
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EL2622, |
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EL2808, |
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NumTypes |
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}; |
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Ex20xx(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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Type); |
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void setOutput(unsigned int, bool); // Control |
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bool getOutput(unsigned int) const; // Simulation |
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void updateInputs(); // reads per-channel diagnosis, if present |
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void updateOutputs(); // toggle/forcing logic, writes process data |
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unsigned int numChannels() const; |
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bool hasDiagnosis() const; |
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bool getDiagnosis(unsigned int) const; |
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private: |
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const Ex20xxType &type; |
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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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std::vector<int> off_out; |
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std::vector<unsigned int> off_out_bit; |
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int off_in; // diagnosis inputs |
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std::vector<uint8_t> input; // value originating from setOutput() |
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std::vector<uint8_t> prevInput; |
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std::vector<unsigned int> toggle; |
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std::vector<unsigned int> prevToggle; |
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std::vector<uint8_t> autoValue; // toggled input value |
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std::vector<uint8_t> enableForcing; |
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std::vector<uint8_t> forcedValue; |
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std::vector<uint8_t> output; // value sent to hardware |
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std::vector<uint8_t> diagnosis; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_EX20XX_H |
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/****************************************************************************/ |
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