| Directory: | ./ |
|---|---|
| File: | src/devices/Ex3xxx.cpp |
| Date: | 2026-09-23 16:22:15 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 98 | 194 | 50.5% |
| Branches: | 64 | 466 | 13.7% |
| Line | Branch | Exec | Source |
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| 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/Ex3xxx.h" | ||
| 24 | |||
| 25 | #include "SlaveContext.h" | ||
| 26 | #include "ecapp/AnalogInputType.h" | ||
| 27 | #include "ecapp/ConfigurableScale.h" | ||
| 28 | #include "ecapp/Domain.h" | ||
| 29 | #include "ecapp/Exceptions.h" | ||
| 30 | #include "ecapp/Factory.h" | ||
| 31 | #include "ecapp/Master.h" | ||
| 32 | #include "ecapp/SwappedSync.h" | ||
| 33 | |||
| 34 | #include <memory> | ||
| 35 | #include <sstream> | ||
| 36 | #include <stdexcept> | ||
| 37 | |||
| 38 | /****************************************************************************/ | ||
| 39 | |||
| 40 | using std::logic_error; | ||
| 41 | using std::make_unique; | ||
| 42 | using std::runtime_error; | ||
| 43 | using std::size_t; | ||
| 44 | using std::stringstream; | ||
| 45 | using std::unique_ptr; | ||
| 46 | |||
| 47 | namespace EcApp { | ||
| 48 | |||
| 49 | /* Master 0, Slave 22, "EL3054" | ||
| 50 | * Vendor ID: 0x00000002 | ||
| 51 | * Product code: 0x0bee3052 | ||
| 52 | * Revision number: 0x00140000 | ||
| 53 | */ | ||
| 54 | |||
| 55 | ec_pdo_entry_info_t el3054_pdo_entries[] = { | ||
| 56 | {0x6000, 0x01, 1}, {0x6000, 0x02, 1}, {0x6000, 0x03, 2}, | ||
| 57 | {0x6000, 0x05, 2}, {0x6000, 0x07, 1}, {0x0000, 0x00, 1}, /* Gap */ | ||
| 58 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 59 | {0x6000, 0x0f, 1}, {0x6000, 0x10, 1}, {0x6000, 0x11, 16}, | ||
| 60 | {0x6010, 0x01, 1}, {0x6010, 0x02, 1}, {0x6010, 0x03, 2}, | ||
| 61 | {0x6010, 0x05, 2}, {0x6010, 0x07, 1}, {0x0000, 0x00, 1}, /* Gap */ | ||
| 62 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 63 | {0x6010, 0x0f, 1}, {0x6010, 0x10, 1}, {0x6010, 0x11, 16}, | ||
| 64 | {0x6020, 0x01, 1}, {0x6020, 0x02, 1}, {0x6020, 0x03, 2}, | ||
| 65 | {0x6020, 0x05, 2}, {0x6020, 0x07, 1}, {0x0000, 0x00, 1}, /* Gap */ | ||
| 66 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 67 | {0x6020, 0x0f, 1}, {0x6020, 0x10, 1}, {0x6020, 0x11, 16}, | ||
| 68 | {0x6030, 0x01, 1}, {0x6030, 0x02, 1}, {0x6030, 0x03, 2}, | ||
| 69 | {0x6030, 0x05, 2}, {0x6030, 0x07, 1}, {0x0000, 0x00, 1}, /* Gap */ | ||
| 70 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 71 | {0x6030, 0x0f, 1}, {0x6030, 0x10, 1}, {0x6030, 0x11, 16}, | ||
| 72 | }; | ||
| 73 | |||
| 74 | ec_pdo_info_t el3054_pdos[] = { | ||
| 75 | {0x1a00, 10, el3054_pdo_entries + 0}, | ||
| 76 | {0x1a02, 10, el3054_pdo_entries + 10}, | ||
| 77 | {0x1a04, 10, el3054_pdo_entries + 20}, | ||
| 78 | {0x1a06, 10, el3054_pdo_entries + 30}, | ||
| 79 | }; | ||
| 80 | |||
| 81 | ec_sync_info_t el3054_syncs[] = { | ||
| 82 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 83 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 84 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 85 | {3, EC_DIR_INPUT, 4, el3054_pdos + 0, EC_WD_DISABLE}, | ||
| 86 | {0xff}}; | ||
| 87 | |||
| 88 | /* Master 0, Slave 13, "EL3102" | ||
| 89 | * Vendor ID: 0x00000002 | ||
| 90 | * Product code: 0x0c1e3052 | ||
| 91 | * Revision number: 0x00140000 | ||
| 92 | */ | ||
| 93 | |||
| 94 | ec_pdo_entry_info_t el31x2_pdo_entries[] = { | ||
| 95 | {0x3101, 0x01, 8}, /* Status */ | ||
| 96 | {0x3101, 0x02, 16}, /* Value */ | ||
| 97 | {0x3102, 0x01, 8}, /* Status */ | ||
| 98 | {0x3102, 0x02, 16}, /* Value */ | ||
| 99 | }; | ||
| 100 | |||
| 101 | ec_pdo_info_t el31x2_pdos[] = { | ||
| 102 | {0x1a00, 2, el31x2_pdo_entries + 0}, /* TxPDO-Map Channel 1 */ | ||
| 103 | {0x1a01, 2, el31x2_pdo_entries + 2}, /* TxPDO-Map Channel 2 */ | ||
| 104 | }; | ||
| 105 | |||
| 106 | ec_sync_info_t el31x2_syncs[] = { | ||
| 107 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 108 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 109 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 110 | {3, EC_DIR_INPUT, 2, el31x2_pdos + 0, EC_WD_DISABLE}, | ||
| 111 | {0xff}}; | ||
| 112 | |||
| 113 | /* Master 0, Slave 12, "EL3062-0030" | ||
| 114 | * Vendor ID: 0x00000002 | ||
| 115 | * Product code: 0x0bf63052 | ||
| 116 | * Revision number: 0x0015001e | ||
| 117 | */ | ||
| 118 | |||
| 119 | ec_pdo_entry_info_t el3062_pdo_entries[] = { | ||
| 120 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 121 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 122 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 123 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 124 | {0x6000, 0x07, 1}, /* Error */ | ||
| 125 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 126 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 127 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 128 | {0x6000, 0x10, 1}, /* TxPDO Toggle */ | ||
| 129 | {0x6000, 0x11, 16}, /* Value */ | ||
| 130 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 131 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 132 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 133 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 134 | {0x6010, 0x07, 1}, /* Error */ | ||
| 135 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 136 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 137 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 138 | {0x6010, 0x10, 1}, /* TxPDO Toggle */ | ||
| 139 | {0x6010, 0x11, 16}, /* Value */ | ||
| 140 | }; | ||
| 141 | |||
| 142 | ec_pdo_info_t el3062_pdos[] = { | ||
| 143 | {0x1a00, 10, el3062_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ | ||
| 144 | {0x1a02, 10, | ||
| 145 | el3062_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */ | ||
| 146 | }; | ||
| 147 | |||
| 148 | ec_sync_info_t el3062_syncs[] = { | ||
| 149 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 150 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 151 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 152 | {3, EC_DIR_INPUT, 2, el3062_pdos + 0, EC_WD_DISABLE}, | ||
| 153 | {0xff}}; | ||
| 154 | |||
| 155 | /* | ||
| 156 | * EL3024, | ||
| 157 | * EL3104, | ||
| 158 | * EPP3184-0002 | ||
| 159 | */ | ||
| 160 | ec_pdo_entry_info_t ex3xx4_pdo_entries[] = { | ||
| 161 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 162 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 163 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 164 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 165 | {0x6000, 0x07, 1}, /* Error */ | ||
| 166 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 167 | {0x0000, 0x00, 5}, /* Gap */ | ||
| 168 | {0x6000, 0x0e, 1}, /* Sync error */ | ||
| 169 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 170 | {0x6000, 0x10, 1}, /* TxPDO Toggle */ | ||
| 171 | {0x6000, 0x11, 16}, /* Value */ | ||
| 172 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 173 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 174 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 175 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 176 | {0x6010, 0x07, 1}, /* Error */ | ||
| 177 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 178 | {0x0000, 0x00, 5}, /* Gap */ | ||
| 179 | {0x6010, 0x0e, 1}, /* Sync error */ | ||
| 180 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 181 | {0x6010, 0x10, 1}, /* TxPDO Toggle */ | ||
| 182 | {0x6010, 0x11, 16}, /* Value */ | ||
| 183 | {0x6020, 0x01, 1}, /* Underrange */ | ||
| 184 | {0x6020, 0x02, 1}, /* Overrange */ | ||
| 185 | {0x6020, 0x03, 2}, /* Limit 1 */ | ||
| 186 | {0x6020, 0x05, 2}, /* Limit 2 */ | ||
| 187 | {0x6020, 0x07, 1}, /* Error */ | ||
| 188 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 189 | {0x0000, 0x00, 5}, /* Gap */ | ||
| 190 | {0x6020, 0x0e, 1}, /* Sync error */ | ||
| 191 | {0x6020, 0x0f, 1}, /* TxPDO State */ | ||
| 192 | {0x6020, 0x10, 1}, /* TxPDO Toggle */ | ||
| 193 | {0x6020, 0x11, 16}, /* Value */ | ||
| 194 | {0x6030, 0x01, 1}, /* Underrange */ | ||
| 195 | {0x6030, 0x02, 1}, /* Overrange */ | ||
| 196 | {0x6030, 0x03, 2}, /* Limit 1 */ | ||
| 197 | {0x6030, 0x05, 2}, /* Limit 2 */ | ||
| 198 | {0x6030, 0x07, 1}, /* Error */ | ||
| 199 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 200 | {0x0000, 0x00, 5}, /* Gap */ | ||
| 201 | {0x6030, 0x0e, 1}, /* Sync error */ | ||
| 202 | {0x6030, 0x0f, 1}, /* TxPDO State */ | ||
| 203 | {0x6030, 0x10, 1}, /* TxPDO Toggle */ | ||
| 204 | {0x6030, 0x11, 16}, /* Value */ | ||
| 205 | }; | ||
| 206 | |||
| 207 | ec_pdo_info_t ex3xx4_pdos[] = { | ||
| 208 | {0x1a00, 11, ex3xx4_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ | ||
| 209 | {0x1a02, 11, | ||
| 210 | ex3xx4_pdo_entries + 11}, /* AI TxPDO-Map Standard Ch.2 */ | ||
| 211 | {0x1a04, 11, | ||
| 212 | ex3xx4_pdo_entries + 22}, /* AI TxPDO-Map Standard Ch.3 */ | ||
| 213 | {0x1a06, 11, | ||
| 214 | ex3xx4_pdo_entries + 33}, /* AI TxPDO-Map Standard Ch.4 */ | ||
| 215 | }; | ||
| 216 | |||
| 217 | ec_sync_info_t ex3xx4_syncs[] = { | ||
| 218 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 219 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 220 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 221 | {3, EC_DIR_INPUT, 4, ex3xx4_pdos + 0, EC_WD_DISABLE}, | ||
| 222 | {0xff}}; | ||
| 223 | |||
| 224 | /* Master 0, Slave 5, "EL3164" | ||
| 225 | * Vendor ID: 0x00000002 | ||
| 226 | * Product code: 0x0bf83052 | ||
| 227 | * Revision number: 0x00140000 | ||
| 228 | */ | ||
| 229 | |||
| 230 | ec_pdo_entry_info_t el3164_pdo_entries[] = { | ||
| 231 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 232 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 233 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 234 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 235 | {0x6000, 0x07, 1}, /* Error */ | ||
| 236 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 237 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 238 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 239 | {0x6000, 0x10, 1}, /* TxPDO Toggle */ | ||
| 240 | {0x6000, 0x11, 16}, /* Value */ | ||
| 241 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 242 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 243 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 244 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 245 | {0x6010, 0x07, 1}, /* Error */ | ||
| 246 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 247 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 248 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 249 | {0x6010, 0x10, 1}, /* TxPDO Toggle */ | ||
| 250 | {0x6010, 0x11, 16}, /* Value */ | ||
| 251 | {0x6020, 0x01, 1}, /* Underrange */ | ||
| 252 | {0x6020, 0x02, 1}, /* Overrange */ | ||
| 253 | {0x6020, 0x03, 2}, /* Limit 1 */ | ||
| 254 | {0x6020, 0x05, 2}, /* Limit 2 */ | ||
| 255 | {0x6020, 0x07, 1}, /* Error */ | ||
| 256 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 257 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 258 | {0x6020, 0x0f, 1}, /* TxPDO State */ | ||
| 259 | {0x6020, 0x10, 1}, /* TxPDO Toggle */ | ||
| 260 | {0x6020, 0x11, 16}, /* Value */ | ||
| 261 | {0x6030, 0x01, 1}, /* Underrange */ | ||
| 262 | {0x6030, 0x02, 1}, /* Overrange */ | ||
| 263 | {0x6030, 0x03, 2}, /* Limit 1 */ | ||
| 264 | {0x6030, 0x05, 2}, /* Limit 2 */ | ||
| 265 | {0x6030, 0x07, 1}, /* Error */ | ||
| 266 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 267 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 268 | {0x6030, 0x0f, 1}, /* TxPDO State */ | ||
| 269 | {0x6030, 0x10, 1}, /* TxPDO Toggle */ | ||
| 270 | {0x6030, 0x11, 16}, /* Value */ | ||
| 271 | }; | ||
| 272 | |||
| 273 | ec_pdo_info_t el3164_pdos[] = { | ||
| 274 | {0x1a00, 10, el3164_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ | ||
| 275 | {0x1a02, 10, | ||
| 276 | el3164_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */ | ||
| 277 | {0x1a04, 10, | ||
| 278 | el3164_pdo_entries + 20}, /* AI TxPDO-Map Standard Ch.3 */ | ||
| 279 | {0x1a06, 10, | ||
| 280 | el3164_pdo_entries + 30}, /* AI TxPDO-Map Standard Ch.4 */ | ||
| 281 | }; | ||
| 282 | |||
| 283 | ec_sync_info_t el3164_syncs[] = { | ||
| 284 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 285 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 286 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 287 | {3, EC_DIR_INPUT, 4, el3164_pdos + 0, EC_WD_DISABLE}, | ||
| 288 | {0xff}}; | ||
| 289 | |||
| 290 | /* Master 0, Slave 1, "EL3182" | ||
| 291 | * Vendor ID: 0x00000002 | ||
| 292 | * Product code: 0x0c6e3052 | ||
| 293 | * Revision number: 0x00120000 | ||
| 294 | */ | ||
| 295 | |||
| 296 | ec_pdo_entry_info_t el3182_pdo_entries[] = { | ||
| 297 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 298 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 299 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 300 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 301 | {0x6000, 0x07, 1}, /* Error */ | ||
| 302 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 303 | {0x0000, 0x00, 5}, /* Gap */ | ||
| 304 | {0x6000, 0x0e, 1}, /* Sync error */ | ||
| 305 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 306 | {0x6000, 0x10, 1}, /* TxPDO Toggle */ | ||
| 307 | {0x6000, 0x11, 16}, /* Value */ | ||
| 308 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 309 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 310 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 311 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 312 | {0x6010, 0x07, 1}, /* Error */ | ||
| 313 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 314 | {0x0000, 0x00, 5}, /* Gap */ | ||
| 315 | {0x6010, 0x0e, 1}, /* Sync error */ | ||
| 316 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 317 | {0x6010, 0x10, 1}, /* TxPDO Toggle */ | ||
| 318 | {0x6010, 0x11, 16}, /* Value */ | ||
| 319 | }; | ||
| 320 | |||
| 321 | ec_pdo_info_t el3182_pdos[] = { | ||
| 322 | {0x1a00, 11, el3182_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ | ||
| 323 | {0x1a02, 11, | ||
| 324 | el3182_pdo_entries + 11}, /* AI TxPDO-Map Standard Ch.2 */ | ||
| 325 | }; | ||
| 326 | |||
| 327 | ec_sync_info_t el3182_syncs[] = { | ||
| 328 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 329 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 330 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 331 | {3, EC_DIR_INPUT, 2, el3182_pdos + 0, EC_WD_DISABLE}, | ||
| 332 | {0xff}}; | ||
| 333 | |||
| 334 | /* Master 0, Slave 2, "EL3008" | ||
| 335 | * Vendor ID: 0x00000002 | ||
| 336 | * Product code: 0x0bc03052 | ||
| 337 | * Revision number: 0x00150000 | ||
| 338 | */ | ||
| 339 | |||
| 340 | ec_pdo_entry_info_t el30x8_pdo_entries[] = { | ||
| 341 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 342 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 343 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 344 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 345 | {0x6000, 0x07, 1}, /* Error */ | ||
| 346 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 347 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 348 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 349 | {0x6000, 0x10, 1}, /* TxPDO Toggle */ | ||
| 350 | {0x6000, 0x11, 16}, /* Value */ | ||
| 351 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 352 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 353 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 354 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 355 | {0x6010, 0x07, 1}, /* Error */ | ||
| 356 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 357 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 358 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 359 | {0x6010, 0x10, 1}, /* TxPDO Toggle */ | ||
| 360 | {0x6010, 0x11, 16}, /* Value */ | ||
| 361 | {0x6020, 0x01, 1}, /* Underrange */ | ||
| 362 | {0x6020, 0x02, 1}, /* Overrange */ | ||
| 363 | {0x6020, 0x03, 2}, /* Limit 1 */ | ||
| 364 | {0x6020, 0x05, 2}, /* Limit 2 */ | ||
| 365 | {0x6020, 0x07, 1}, /* Error */ | ||
| 366 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 367 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 368 | {0x6020, 0x0f, 1}, /* TxPDO State */ | ||
| 369 | {0x6020, 0x10, 1}, /* TxPDO Toggle */ | ||
| 370 | {0x6020, 0x11, 16}, /* Value */ | ||
| 371 | {0x6030, 0x01, 1}, /* Underrange */ | ||
| 372 | {0x6030, 0x02, 1}, /* Overrange */ | ||
| 373 | {0x6030, 0x03, 2}, /* Limit 1 */ | ||
| 374 | {0x6030, 0x05, 2}, /* Limit 2 */ | ||
| 375 | {0x6030, 0x07, 1}, /* Error */ | ||
| 376 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 377 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 378 | {0x6030, 0x0f, 1}, /* TxPDO State */ | ||
| 379 | {0x6030, 0x10, 1}, /* TxPDO Toggle */ | ||
| 380 | {0x6030, 0x11, 16}, /* Value */ | ||
| 381 | {0x6040, 0x01, 1}, /* Underrange */ | ||
| 382 | {0x6040, 0x02, 1}, /* Overrange */ | ||
| 383 | {0x6040, 0x03, 2}, /* Limit 1 */ | ||
| 384 | {0x6040, 0x05, 2}, /* Limit 2 */ | ||
| 385 | {0x6040, 0x07, 1}, /* Error */ | ||
| 386 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 387 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 388 | {0x6040, 0x0f, 1}, /* TxPDO State */ | ||
| 389 | {0x6040, 0x10, 1}, /* TxPDO Toggle */ | ||
| 390 | {0x6040, 0x11, 16}, /* Value */ | ||
| 391 | {0x6050, 0x01, 1}, /* Underrange */ | ||
| 392 | {0x6050, 0x02, 1}, /* Overrange */ | ||
| 393 | {0x6050, 0x03, 2}, /* Limit 1 */ | ||
| 394 | {0x6050, 0x05, 2}, /* Limit 2 */ | ||
| 395 | {0x6050, 0x07, 1}, /* Error */ | ||
| 396 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 397 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 398 | {0x6050, 0x0f, 1}, /* TxPDO State */ | ||
| 399 | {0x6050, 0x10, 1}, /* TxPDO Toggle */ | ||
| 400 | {0x6050, 0x11, 16}, /* Value */ | ||
| 401 | {0x6060, 0x01, 1}, /* Underrange */ | ||
| 402 | {0x6060, 0x02, 1}, /* Overrange */ | ||
| 403 | {0x6060, 0x03, 2}, /* Limit 1 */ | ||
| 404 | {0x6060, 0x05, 2}, /* Limit 2 */ | ||
| 405 | {0x6060, 0x07, 1}, /* Error */ | ||
| 406 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 407 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 408 | {0x6060, 0x0f, 1}, /* TxPDO State */ | ||
| 409 | {0x6060, 0x10, 1}, /* TxPDO Toggle */ | ||
| 410 | {0x6060, 0x11, 16}, /* Value */ | ||
| 411 | {0x6070, 0x01, 1}, /* Underrange */ | ||
| 412 | {0x6070, 0x02, 1}, /* Overrange */ | ||
| 413 | {0x6070, 0x03, 2}, /* Limit 1 */ | ||
| 414 | {0x6070, 0x05, 2}, /* Limit 2 */ | ||
| 415 | {0x6070, 0x07, 1}, /* Error */ | ||
| 416 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 417 | {0x0000, 0x00, 6}, /* Gap */ | ||
| 418 | {0x6070, 0x0f, 1}, /* TxPDO State */ | ||
| 419 | {0x6070, 0x10, 1}, /* TxPDO Toggle */ | ||
| 420 | {0x6070, 0x11, 16}, /* Value */ | ||
| 421 | }; | ||
| 422 | |||
| 423 | ec_pdo_info_t el30x8_pdos[] = { | ||
| 424 | {0x1a00, 10, el30x8_pdo_entries + 0}, /* AI TxPDO-Map Standard Ch.1 */ | ||
| 425 | {0x1a02, 10, | ||
| 426 | el30x8_pdo_entries + 10}, /* AI TxPDO-Map Standard Ch.2 */ | ||
| 427 | {0x1a04, 10, | ||
| 428 | el30x8_pdo_entries + 20}, /* AI TxPDO-Map Standard Ch.3 */ | ||
| 429 | {0x1a06, 10, | ||
| 430 | el30x8_pdo_entries + 30}, /* AI TxPDO-Map Standard Ch.4 */ | ||
| 431 | {0x1a08, 10, | ||
| 432 | el30x8_pdo_entries + 40}, /* AI TxPDO-Map Standard Ch.5 */ | ||
| 433 | {0x1a0a, 10, | ||
| 434 | el30x8_pdo_entries + 50}, /* AI TxPDO-Map Standard Ch.6 */ | ||
| 435 | {0x1a0c, 10, | ||
| 436 | el30x8_pdo_entries + 60}, /* AI TxPDO-Map Standard Ch.7 */ | ||
| 437 | {0x1a0e, 10, | ||
| 438 | el30x8_pdo_entries + 70}, /* AI TxPDO-Map Standard Ch.8 */ | ||
| 439 | }; | ||
| 440 | |||
| 441 | ec_sync_info_t el30x8_syncs[] = { | ||
| 442 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 443 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 444 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 445 | {3, EC_DIR_INPUT, 8, el30x8_pdos + 0, EC_WD_DISABLE}, | ||
| 446 | {0xff}}; | ||
| 447 | |||
| 448 | /* Master 0, Slave 5, "EL3311" | ||
| 449 | * Vendor ID: 0x00000002 | ||
| 450 | * Product code: 0x0cef3052 | ||
| 451 | * Revision number: 0x00170000 | ||
| 452 | */ | ||
| 453 | |||
| 454 | ec_pdo_entry_info_t el3311_entries[] = { | ||
| 455 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 456 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 457 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 458 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 459 | {0x6000, 0x07, 1}, /* Error */ | ||
| 460 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 461 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 462 | {0x1800, 0x09, 1}, {0x6000, 0x11, 16}, /* Value */ | ||
| 463 | }; | ||
| 464 | |||
| 465 | ec_pdo_info_t el3311_pdos[] = { | ||
| 466 | {0x1a00, 9, el3311_entries + 0}, /* TC TxPDO-MapCh.1 */ | ||
| 467 | }; | ||
| 468 | |||
| 469 | ec_sync_info_t el3311_syncs[] = { | ||
| 470 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 471 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 472 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 473 | {3, EC_DIR_INPUT, 1, el3311_pdos + 0, EC_WD_DISABLE}, | ||
| 474 | {0xff}}; | ||
| 475 | |||
| 476 | /* Master 0, Slave 0, "EL3318" | ||
| 477 | * Vendor ID: 0x00000002 | ||
| 478 | * Product code: 0x0cf63052 | ||
| 479 | * Revision number: 0x00140000 | ||
| 480 | */ | ||
| 481 | |||
| 482 | ec_pdo_entry_info_t el3318_pdo_entries[] = { | ||
| 483 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 484 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 485 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 486 | {0x6000, 0x07, 1}, /* Error */ | ||
| 487 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 488 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 489 | {0x1800, 0x09, 1}, {0x6000, 0x11, 16}, /* Value */ | ||
| 490 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 491 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 492 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 493 | {0x6010, 0x07, 1}, /* Error */ | ||
| 494 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 495 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 496 | {0x1801, 0x09, 1}, {0x6010, 0x11, 16}, /* Value */ | ||
| 497 | {0x6020, 0x01, 1}, /* Underrange */ | ||
| 498 | {0x6020, 0x02, 1}, /* Overrange */ | ||
| 499 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 500 | {0x6020, 0x07, 1}, /* Error */ | ||
| 501 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 502 | {0x6020, 0x0f, 1}, /* TxPDO State */ | ||
| 503 | {0x1802, 0x09, 1}, {0x6020, 0x11, 16}, /* Value */ | ||
| 504 | {0x6030, 0x01, 1}, /* Underrange */ | ||
| 505 | {0x6030, 0x02, 1}, /* Overrange */ | ||
| 506 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 507 | {0x6030, 0x07, 1}, /* Error */ | ||
| 508 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 509 | {0x6030, 0x0f, 1}, /* TxPDO State */ | ||
| 510 | {0x1803, 0x09, 1}, {0x6030, 0x11, 16}, /* Value */ | ||
| 511 | {0x6040, 0x01, 1}, /* Underrange */ | ||
| 512 | {0x6040, 0x02, 1}, /* Overrange */ | ||
| 513 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 514 | {0x6040, 0x07, 1}, /* Error */ | ||
| 515 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 516 | {0x6040, 0x0f, 1}, /* TxPDO State */ | ||
| 517 | {0x1804, 0x09, 1}, {0x6040, 0x11, 16}, /* Value */ | ||
| 518 | {0x6050, 0x01, 1}, /* Underrange */ | ||
| 519 | {0x6050, 0x02, 1}, /* Overrange */ | ||
| 520 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 521 | {0x6050, 0x07, 1}, /* Error */ | ||
| 522 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 523 | {0x6050, 0x0f, 1}, /* TxPDO State */ | ||
| 524 | {0x1805, 0x09, 1}, {0x6050, 0x11, 16}, /* Value */ | ||
| 525 | {0x6060, 0x01, 1}, /* Underrange */ | ||
| 526 | {0x6060, 0x02, 1}, /* Overrange */ | ||
| 527 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 528 | {0x6060, 0x07, 1}, /* Error */ | ||
| 529 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 530 | {0x6060, 0x0f, 1}, /* TxPDO State */ | ||
| 531 | {0x1806, 0x09, 1}, {0x6060, 0x11, 16}, /* Value */ | ||
| 532 | {0x6070, 0x01, 1}, /* Underrange */ | ||
| 533 | {0x6070, 0x02, 1}, /* Overrange */ | ||
| 534 | {0x0000, 0x00, 4}, /* Gap */ | ||
| 535 | {0x6070, 0x07, 1}, /* Error */ | ||
| 536 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 537 | {0x6070, 0x0f, 1}, /* TxPDO State */ | ||
| 538 | {0x1807, 0x09, 1}, {0x6070, 0x11, 16}, /* Value */ | ||
| 539 | }; | ||
| 540 | |||
| 541 | ec_pdo_info_t el3318_pdos[] = { | ||
| 542 | {0x1a00, 8, el3318_pdo_entries + 0}, /* TC TxPDO-MapCh.1 */ | ||
| 543 | {0x1a01, 8, el3318_pdo_entries + 8}, /* TC TxPDO-MapCh.2 */ | ||
| 544 | {0x1a02, 8, el3318_pdo_entries + 16}, /* TC TxPDO-MapCh.3 */ | ||
| 545 | {0x1a03, 8, el3318_pdo_entries + 24}, /* TC TxPDO-MapCh.4 */ | ||
| 546 | {0x1a04, 8, el3318_pdo_entries + 32}, /* TC TxPDO-MapCh.5 */ | ||
| 547 | {0x1a05, 8, el3318_pdo_entries + 40}, /* TC TxPDO-MapCh.6 */ | ||
| 548 | {0x1a06, 8, el3318_pdo_entries + 48}, /* TC TxPDO-MapCh.7 */ | ||
| 549 | {0x1a07, 8, el3318_pdo_entries + 56}, /* TC TxPDO-MapCh.8 */ | ||
| 550 | }; | ||
| 551 | |||
| 552 | ec_sync_info_t el3318_syncs[] = { | ||
| 553 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 554 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 555 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 556 | {3, EC_DIR_INPUT, 8, el3318_pdos + 0, EC_WD_DISABLE}, | ||
| 557 | {0xff}}; | ||
| 558 | |||
| 559 | /* Master 0, Slave 6, "EM3702" | ||
| 560 | * Vendor ID: 0x00000002 | ||
| 561 | * Product code: 0x0e763452 | ||
| 562 | * Revision number: 0x00100000 | ||
| 563 | */ | ||
| 564 | |||
| 565 | ec_pdo_entry_info_t em3702_pdo_entries[] = { | ||
| 566 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 567 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 568 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 569 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 570 | {0x6000, 0x07, 1}, /* Error */ | ||
| 571 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 572 | {0x6000, 0x0f, 1}, /* TxPDO State */ | ||
| 573 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 574 | {0x6000, 0x11, 16}, /* Value */ | ||
| 575 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 576 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 577 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 578 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 579 | {0x6010, 0x07, 1}, /* Error */ | ||
| 580 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 581 | {0x6010, 0x0f, 1}, /* TxPDO State */ | ||
| 582 | {0x0000, 0x00, 1}, /* Gap */ | ||
| 583 | {0x6010, 0x11, 16}, /* Value */ | ||
| 584 | }; | ||
| 585 | |||
| 586 | ec_pdo_info_t em3702_pdos[] = { | ||
| 587 | {0x1a00, 9, em3702_pdo_entries + 0}, /* AI TxPDO-Map InputsCh.1 */ | ||
| 588 | {0x1a01, 9, em3702_pdo_entries + 9}, /* AI TxPDO-Map InputsCh.2 */ | ||
| 589 | }; | ||
| 590 | |||
| 591 | ec_sync_info_t em3702_syncs[] = { | ||
| 592 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 593 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 594 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 595 | {3, EC_DIR_INPUT, 2, em3702_pdos + 0, EC_WD_DISABLE}, | ||
| 596 | {0xff}}; | ||
| 597 | |||
| 598 | /* Master 0, Slave 2, "EL3602-0010" | ||
| 599 | * Vendor ID: 0x00000002 | ||
| 600 | * Product code: 0x0e123052 | ||
| 601 | * Revision number: 0x0012000a | ||
| 602 | */ | ||
| 603 | |||
| 604 | ec_pdo_entry_info_t el3602_pdo_entries[] = { | ||
| 605 | {0x6000, 0x01, 1}, /* Underrange */ | ||
| 606 | {0x6000, 0x02, 1}, /* Overrange */ | ||
| 607 | {0x6000, 0x03, 2}, /* Limit 1 */ | ||
| 608 | {0x6000, 0x05, 2}, /* Limit 2 */ | ||
| 609 | {0x6000, 0x07, 1}, /* Error */ | ||
| 610 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 611 | {0x1800, 0x07, 1}, {0x1800, 0x09, 1}, {0x6000, 0x11, 32}, /* Value */ | ||
| 612 | {0x6010, 0x01, 1}, /* Underrange */ | ||
| 613 | {0x6010, 0x02, 1}, /* Overrange */ | ||
| 614 | {0x6010, 0x03, 2}, /* Limit 1 */ | ||
| 615 | {0x6010, 0x05, 2}, /* Limit 2 */ | ||
| 616 | {0x6010, 0x07, 1}, /* Error */ | ||
| 617 | {0x0000, 0x00, 7}, /* Gap */ | ||
| 618 | {0x1801, 0x07, 1}, {0x1801, 0x09, 1}, {0x6010, 0x11, 32}, /* Value */ | ||
| 619 | }; | ||
| 620 | |||
| 621 | ec_pdo_info_t el3602_pdos[] = { | ||
| 622 | {0x1a00, 9, el3602_pdo_entries + 0}, /* AI TxPDO-Map Inputs Ch.1 */ | ||
| 623 | {0x1a01, 9, el3602_pdo_entries + 9}, /* AI TxPDO-Map Inputs Ch.2 */ | ||
| 624 | }; | ||
| 625 | |||
| 626 | ec_sync_info_t el3602_syncs[] = { | ||
| 627 | {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 628 | {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 629 | {2, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE}, | ||
| 630 | {3, EC_DIR_INPUT, 2, el3602_pdos + 0, EC_WD_DISABLE}, | ||
| 631 | {0xff}}; | ||
| 632 | |||
| 633 | /****************************************************************************/ | ||
| 634 | |||
| 635 | enum Width { W16 = 16, W32 = 32 }; | ||
| 636 | |||
| 637 | enum InputTypeStyle { NoInputType, InputTypeEL3074, InputTypeEPP3184 }; | ||
| 638 | |||
| 639 | struct Ex3xxxType | ||
| 640 | { | ||
| 641 | const char *name; | ||
| 642 | uint32_t product_code; | ||
| 643 | unsigned int num_channels; | ||
| 644 | unsigned int pdo_entry_index; | ||
| 645 | unsigned int pdo_entry_inc; | ||
| 646 | unsigned int value_pdo_entry_subindex; | ||
| 647 | Width width; | ||
| 648 | double value_scale; | ||
| 649 | double full_range; | ||
| 650 | InputTypeStyle inputTypeStyle; | ||
| 651 | ec_sync_info_t *sync; | ||
| 652 | }; | ||
| 653 | |||
| 654 | const static Ex3xxxType ex3xxxType[Ex3xxx<Mode::Control>::NumTypes] = { | ||
| 655 | |||
| 656 | // EL3008 | ||
| 657 | {"EL3008", 0x0bc03052, 8, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 658 | NoInputType, el30x8_syncs}, | ||
| 659 | |||
| 660 | // EL3024 | ||
| 661 | {"EL3024", 0x0bd03052, 4, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 662 | NoInputType, ex3xx4_syncs}, | ||
| 663 | |||
| 664 | // EL3054 | ||
| 665 | {"EL3054", 0x0bee3052, 4, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 666 | NoInputType, el3054_syncs}, | ||
| 667 | |||
| 668 | // EL3062 | ||
| 669 | {"EL3062", 0x0bf63052, 2, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 670 | NoInputType, el3062_syncs}, | ||
| 671 | |||
| 672 | // EL3062-0030 (30 V) | ||
| 673 | {"EL3062-0030", 0x0bf63052, 2, 0x6000, 0x10, 0x11, W16, 30.0, 32768.0, | ||
| 674 | NoInputType, el3062_syncs}, | ||
| 675 | |||
| 676 | // EL3068 | ||
| 677 | {"EL3068", 0x0bfc3052, 8, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 678 | NoInputType, el30x8_syncs}, | ||
| 679 | |||
| 680 | // EL3074 (extended range!) | ||
| 681 | {"EL3074", 0x0c023052, 4, 0x6000, 0x10, 0x11, W16, 1.0, 30518.0, | ||
| 682 | InputTypeEL3074, ex3xx4_syncs}, | ||
| 683 | |||
| 684 | // EL3102 | ||
| 685 | {"EL3102", 0x0c1e3052, 2, 0x3101, 0x01, 0x02, W16, 1.0, 32768.0, | ||
| 686 | NoInputType, el31x2_syncs}, | ||
| 687 | |||
| 688 | // EL3104 | ||
| 689 | {"EL3104", 0x0c203052, 4, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 690 | NoInputType, ex3xx4_syncs}, | ||
| 691 | |||
| 692 | // EL3122 | ||
| 693 | {"EL3122", 0x0c323052, 2, 0x3101, 0x01, 0x02, W16, 1.0, 32768.0, | ||
| 694 | NoInputType, el31x2_syncs}, | ||
| 695 | |||
| 696 | // EL3164 | ||
| 697 | {"EL3164", 0x0bf83052, 4, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 698 | NoInputType, el3164_syncs}, | ||
| 699 | |||
| 700 | // EL3182 (extended range!) | ||
| 701 | {"EL3182", 0x0c6e3052, 2, 0x6000, 0x10, 0x11, W16, 1.0, 30518.0, | ||
| 702 | NoInputType, el3182_syncs}, | ||
| 703 | |||
| 704 | // EL3311 | ||
| 705 | {"EL3311", 0x0cef3052, 1, 0x6000, 0x00, 0x11, W16, 0.1 * 32768.0, | ||
| 706 | 32768.0, NoInputType, el3311_syncs}, | ||
| 707 | |||
| 708 | // EL3318 | ||
| 709 | {"EL3318", 0x0cf63052, 8, 0x6000, 0x10, 0x11, W16, 0.1 * 32768.0, | ||
| 710 | 32768.0, NoInputType, el3318_syncs}, | ||
| 711 | |||
| 712 | // EL3602-0010 | ||
| 713 | {"EL3602-0010", 0x0e123052, 2, 0x6000, 0x10, 0x11, W32, 75e-3, | ||
| 714 | 2147483647.0, NoInputType, el3602_syncs}, | ||
| 715 | |||
| 716 | // EM3702 | ||
| 717 | {"EM3702", 0x0e763452, 2, 0x6000, 0x10, 0x11, W16, 7.5e5, 32768.0, | ||
| 718 | NoInputType, em3702_syncs}, | ||
| 719 | |||
| 720 | // EPP3184 | ||
| 721 | {"EPP3184", 0x64768d09, 4, 0x6000, 0x10, 0x11, W16, 1.0, 32768.0, | ||
| 722 | InputTypeEPP3184, ex3xx4_syncs}, | ||
| 723 | }; | ||
| 724 | |||
| 725 | /****************************************************************************/ | ||
| 726 | |||
| 727 | template <Mode mode> | ||
| 728 | 2 | Ex3xxx<mode>::Ex3xxx( | |
| 729 | Master *master, | ||
| 730 | uint16_t alias, | ||
| 731 | uint16_t position, | ||
| 732 | Domain *domainIn, | ||
| 733 | Type typeIdx) : | ||
| 734 | 2 | type(ex3xxxType[typeIdx]), | |
| 735 | sc(NULL), | ||
| 736 | domainIn(domainIn), | ||
| 737 | 2 | inputType(type.num_channels, InputPlusMinus10V), | |
| 738 | 2 | inputTypeSet(type.num_channels, false), | |
| 739 | 2 | off_sts(type.num_channels, 0), | |
| 740 | 2 | off_in(type.num_channels, 0), | |
| 741 | 2 | status(type.num_channels, 0), | |
| 742 | 4 | scale(type.num_channels, type.value_scale), | |
| 743 | 2 | offset(type.num_channels, 0.0), | |
| 744 |
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|
18 | input(type.num_channels, 0.0) |
| 745 | { | ||
| 746 | // pdserv publishing (Input/Status/Gain/Offset) happens in | ||
| 747 | // Ex3xxxAdapter's constructor below, via SubDevice:: | ||
| 748 | // registerInputChannel()/registerParameter() -- that is also what | ||
| 749 | // makes those channels alias-able through SubDevice::setAlias(). | ||
| 750 | |||
| 751 |
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2 | if (!master) { |
| 752 | 2 | return; | |
| 753 | } | ||
| 754 | |||
| 755 | ✗ | sc = ecrt_master_slave_config( | |
| 756 | master->getMaster(), alias, position, 0x00000002, | ||
| 757 | ✗ | type.product_code); | |
| 758 | ✗ | if (!sc) { | |
| 759 | ✗ | stringstream err; | |
| 760 | ✗ | err << "Failed to get slave configuration."; | |
| 761 | ✗ | throw runtime_error(err.str()); | |
| 762 | } | ||
| 763 | |||
| 764 | ✗ | if (ecrt_slave_config_pdos( | |
| 765 | ✗ | sc, EC_END, SwappedSync<mode>(type.sync).getSync())) { | |
| 766 | ✗ | stringstream err; | |
| 767 | ✗ | err << "Failed to configure PDOs."; | |
| 768 | ✗ | throw runtime_error(err.str()); | |
| 769 | } | ||
| 770 | |||
| 771 | ✗ | for (unsigned int c = 0; c < type.num_channels; c++) { | |
| 772 | ✗ | unsigned int entry_index = | |
| 773 | ✗ | type.pdo_entry_index + c * type.pdo_entry_inc; | |
| 774 | |||
| 775 | ✗ | off_sts[c] = ecrt_slave_config_reg_pdo_entry( | |
| 776 | sc, entry_index, 0x01, domainIn->getDomain(), NULL); | ||
| 777 | ✗ | if (off_sts[c] < 0) { | |
| 778 | ✗ | stringstream err; | |
| 779 | ✗ | err << "Failed to register Ex3xxx status PDO entry."; | |
| 780 | ✗ | throw runtime_error(err.str()); | |
| 781 | } | ||
| 782 | |||
| 783 | ✗ | off_in[c] = ecrt_slave_config_reg_pdo_entry( | |
| 784 | ✗ | sc, entry_index, type.value_pdo_entry_subindex, | |
| 785 | domainIn->getDomain(), NULL); | ||
| 786 | ✗ | if (off_in[c] < 0) { | |
| 787 | ✗ | stringstream err; | |
| 788 | ✗ | err << "Failed to register Ex3xxx value PDO entry."; | |
| 789 | ✗ | throw runtime_error(err.str()); | |
| 790 | } | ||
| 791 | } | ||
| 792 | } | ||
| 793 | |||
| 794 | /****************************************************************************/ | ||
| 795 | |||
| 796 | template <Mode mode> | ||
| 797 | 2 | void Ex3xxx<mode>::setInputType(unsigned int channel, InputType it) | |
| 798 | { | ||
| 799 |
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2 | if (channel >= type.num_channels) { |
| 800 | ✗ | return; | |
| 801 | } | ||
| 802 |
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2 | if (inputTypeSet[channel]) { |
| 803 |
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2 | stringstream err; |
| 804 |
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2 | err << "Ex3xxx::setInputType() was already called for channel " |
| 805 |
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1 | << channel |
| 806 | << "; the EtherCAT master queues every SDO download rather " | ||
| 807 | "than replacing an earlier one for the same object, so " | ||
| 808 | "a second call would not overwrite the first, only " | ||
| 809 | "waste an extra download at activation time."; | ||
| 810 |
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1 | throw logic_error(err.str()); |
| 811 | } | ||
| 812 | 1 | inputTypeSet[channel] = true; | |
| 813 | 1 | inputType[channel] = it; | |
| 814 | |||
| 815 |
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1 | if (!sc) { |
| 816 | 1 | return; | |
| 817 | } | ||
| 818 | |||
| 819 | ✗ | switch (type.inputTypeStyle) { | |
| 820 | ✗ | case InputTypeEL3074: { | |
| 821 | /* Messungs Modus, zulässige Werte: | ||
| 822 | 2: V ±10V | ||
| 823 | 14: V 0-10V | ||
| 824 | 17: I ±20mA | ||
| 825 | 18: I 0-20mA | ||
| 826 | 19: I 4-20mA | ||
| 827 | 20: I 4-20mA NAMUR | ||
| 828 | */ | ||
| 829 | int sdoValue; | ||
| 830 | ✗ | switch (it) { | |
| 831 | ✗ | case InputPlusMinus10V: | |
| 832 | ✗ | sdoValue = 2; | |
| 833 | ✗ | break; | |
| 834 | ✗ | case Input0To20mA: | |
| 835 | ✗ | sdoValue = 18; | |
| 836 | ✗ | break; | |
| 837 | ✗ | case Input4To20mA: | |
| 838 | ✗ | sdoValue = 19; | |
| 839 | ✗ | break; | |
| 840 | ✗ | case InputPlusMinus20mA: | |
| 841 | ✗ | sdoValue = 17; | |
| 842 | ✗ | break; | |
| 843 | ✗ | case Input0To10V: | |
| 844 | ✗ | sdoValue = 14; | |
| 845 | ✗ | break; | |
| 846 | ✗ | default: | |
| 847 | ✗ | throw runtime_error("Invalid input type"); | |
| 848 | } | ||
| 849 | ✗ | int ret = ecrt_slave_config_sdo16( | |
| 850 | ✗ | sc, 0x800D + 0x0010 * channel, 0x11, sdoValue); | |
| 851 | ✗ | if (ret) { | |
| 852 | ✗ | stringstream err; | |
| 853 | ✗ | err << "Failed to configure SDO."; | |
| 854 | ✗ | throw runtime_error(err.str()); | |
| 855 | } | ||
| 856 | ✗ | } break; | |
| 857 | |||
| 858 | ✗ | case InputTypeEPP3184: { | |
| 859 | ✗ | int ret = ecrt_slave_config_sdo16(sc, 0xF800, 0x01 + channel, it); | |
| 860 | ✗ | if (ret) { | |
| 861 | ✗ | stringstream err; | |
| 862 | ✗ | err << "Failed to configure SDO."; | |
| 863 | ✗ | throw runtime_error(err.str()); | |
| 864 | } | ||
| 865 | ✗ | } break; | |
| 866 | |||
| 867 | ✗ | default: | |
| 868 | ✗ | break; | |
| 869 | } | ||
| 870 | } | ||
| 871 | |||
| 872 | /****************************************************************************/ | ||
| 873 | |||
| 874 | template <Mode mode> | ||
| 875 | 1 | void Ex3xxx<mode>::update() | |
| 876 | { | ||
| 877 |
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9 | for (unsigned int c = 0; c < type.num_channels; c++) { |
| 878 | 8 | status[c] = getStatus(c); | |
| 879 | 8 | input[c] = getInput(c); | |
| 880 | } | ||
| 881 | 1 | } | |
| 882 | |||
| 883 | /****************************************************************************/ | ||
| 884 | |||
| 885 | template <Mode mode> | ||
| 886 | 1 | void Ex3xxx<mode>::setScale(unsigned int channel, double newScale) | |
| 887 | { | ||
| 888 |
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1 | if (channel < type.num_channels) { |
| 889 | 1 | scale[channel] = newScale; | |
| 890 | } | ||
| 891 | 1 | } | |
| 892 | |||
| 893 | /****************************************************************************/ | ||
| 894 | |||
| 895 | template <Mode mode> | ||
| 896 | 1 | void Ex3xxx<mode>::setOffset(unsigned int channel, double newOffset) | |
| 897 | { | ||
| 898 |
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1 | if (channel < type.num_channels) { |
| 899 | 1 | offset[channel] = newOffset; | |
| 900 | } | ||
| 901 | 1 | } | |
| 902 | |||
| 903 | /****************************************************************************/ | ||
| 904 | |||
| 905 | template <Mode mode> | ||
| 906 | 9 | uint8_t Ex3xxx<mode>::getStatus(unsigned int channel) const | |
| 907 | { | ||
| 908 |
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9 | if (domainIn->getData() && channel < type.num_channels) { |
| 909 | ✗ | return EC_READ_U8(domainIn->getData() + off_sts[channel]); | |
| 910 | } | ||
| 911 | else { | ||
| 912 | 9 | return 0; | |
| 913 | } | ||
| 914 | } | ||
| 915 | |||
| 916 | /****************************************************************************/ | ||
| 917 | |||
| 918 | template <Mode mode> | ||
| 919 | 9 | double Ex3xxx<mode>::getInput(unsigned int channel) const | |
| 920 | { | ||
| 921 |
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9 | if (domainIn->getData() && channel < type.num_channels) { |
| 922 | ✗ | if (type.width == W16) { | |
| 923 | ✗ | int16_t raw = EC_READ_S16(domainIn->getData() + off_in[channel]); | |
| 924 | ✗ | return raw / type.full_range * scale[channel] + offset[channel]; | |
| 925 | } | ||
| 926 | else { // W32 | ||
| 927 | ✗ | int32_t raw = EC_READ_S32(domainIn->getData() + off_in[channel]); | |
| 928 | ✗ | return raw / type.full_range * scale[channel] + offset[channel]; | |
| 929 | } | ||
| 930 | } | ||
| 931 | else { | ||
| 932 | 9 | return 0.0; | |
| 933 | } | ||
| 934 | } | ||
| 935 | |||
| 936 | /****************************************************************************/ | ||
| 937 | |||
| 938 | template <Mode mode> | ||
| 939 | ✗ | void Ex3xxx<mode>::setStatus(unsigned int channel, uint8_t newStatus) const | |
| 940 | { | ||
| 941 | ✗ | if (domainIn->getData() && channel < type.num_channels) { | |
| 942 | ✗ | EC_WRITE_U8(domainIn->getData() + off_sts[channel], newStatus); | |
| 943 | } | ||
| 944 | } | ||
| 945 | |||
| 946 | /****************************************************************************/ | ||
| 947 | |||
| 948 | template <Mode mode> | ||
| 949 | ✗ | void Ex3xxx<mode>::setInput(unsigned int channel, double value) const | |
| 950 | { | ||
| 951 | ✗ | if (domainIn->getData() && channel < type.num_channels | |
| 952 | ✗ | && scale[channel]) { | |
| 953 | ✗ | if (type.width == W16) { | |
| 954 | ✗ | int16_t raw( | |
| 955 | ✗ | (value - offset[channel]) * type.full_range | |
| 956 | ✗ | / scale[channel]); | |
| 957 | ✗ | EC_WRITE_S16(domainIn->getData() + off_in[channel], raw); | |
| 958 | } | ||
| 959 | else { // W32 | ||
| 960 | ✗ | int32_t raw( | |
| 961 | ✗ | (value - offset[channel]) * type.full_range | |
| 962 | ✗ | / scale[channel]); | |
| 963 | ✗ | EC_WRITE_S32(domainIn->getData() + off_in[channel], raw); | |
| 964 | } | ||
| 965 | } | ||
| 966 | } | ||
| 967 | |||
| 968 | /****************************************************************************/ | ||
| 969 | |||
| 970 | template <Mode mode> | ||
| 971 | 6 | unsigned int Ex3xxx<mode>::numChannels() const | |
| 972 | { | ||
| 973 | 6 | return type.num_channels; | |
| 974 | } | ||
| 975 | |||
| 976 | /****************************************************************************/ | ||
| 977 | |||
| 978 | template <Mode mode> | ||
| 979 | 3 | bool Ex3xxx<mode>::supportsInputType() const | |
| 980 | { | ||
| 981 | 3 | return type.inputTypeStyle != NoInputType; | |
| 982 | } | ||
| 983 | |||
| 984 | /****************************************************************************/ | ||
| 985 | |||
| 986 | template class Ex3xxx<Mode::Control>; | ||
| 987 | template class Ex3xxx<Mode::Simulation>; | ||
| 988 | |||
| 989 | /****************************************************************************/ | ||
| 990 | // Generic SubDevice adapter: pure analog input, no outputs. Also | ||
| 991 | // implements SwitchableInputType so createSubDevice("EL3074") lets callers | ||
| 992 | // do EcApp::capability<SwitchableInputType>(*device).setInputType(...), | ||
| 993 | // while createSubDevice("EL3008") still dynamic_casts to | ||
| 994 | // SwitchableInputType successfully (all Ex3xxx types share this adapter | ||
| 995 | // class) but throws UnsupportedCapability from setInputType() itself, | ||
| 996 | // since EL3008 has no switchable range. | ||
| 997 | /****************************************************************************/ | ||
| 998 | |||
| 999 | template <Mode mode> | ||
| 1000 | 4 | class Ex3xxxAdapter : | |
| 1001 | public SubDevice, | ||
| 1002 | public SwitchableInputType, | ||
| 1003 | public ConfigurableScale | ||
| 1004 | { | ||
| 1005 | public: | ||
| 1006 | 2 | Ex3xxxAdapter(const SlaveContext &ctx, typename Ex3xxx<mode>::Type t) : | |
| 1007 | 2 | SubDevice(nullptr, ctx.domainIn, ctx.pdServ, ctx.task, ctx.prefix), | |
| 1008 | 6 | device(ctx.master, ctx.alias, ctx.position, ctx.domainIn, t), | |
| 1009 | inputKinds_ { | ||
| 1010 | {"Input", device.numChannels(), double(0)}, | ||
| 1011 |
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10 | {"Status", device.numChannels(), uint8_t(0)}} |
| 1012 | { | ||
| 1013 |
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2 | registerInputChannel("Input", device.input); |
| 1014 |
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2 | registerInputChannel("Status", device.status); |
| 1015 |
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2 | registerParameter("Gain", "Input", device.scale); |
| 1016 |
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2 | registerParameter("Offset", "Input", device.offset); |
| 1017 | 2 | } | |
| 1018 | |||
| 1019 | 1 | void updateInputs() override { device.update(); } | |
| 1020 | ✗ | void updateOutputs() override {} | |
| 1021 | |||
| 1022 | 10 | const std::vector<ChannelKind> &inputKinds() const override | |
| 1023 | { | ||
| 1024 | 10 | return inputKinds_; | |
| 1025 | } | ||
| 1026 | 1 | const std::vector<ChannelKind> &outputKinds() const override | |
| 1027 | { | ||
| 1028 | 1 | return outputKinds_; | |
| 1029 | } | ||
| 1030 | |||
| 1031 | 3 | void setInputType(unsigned int channel, AnalogInputType t) override | |
| 1032 | { | ||
| 1033 |
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3 | if (!device.supportsInputType()) { |
| 1034 |
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2 | stringstream err; |
| 1035 |
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1 | err << "This device does not support switchable input " |
| 1036 | "ranges."; | ||
| 1037 |
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1 | throw UnsupportedCapability(err.str()); |
| 1038 | } | ||
| 1039 | 2 | device.setInputType(channel, map(t)); | |
| 1040 | 1 | } | |
| 1041 | |||
| 1042 | 1 | void setScale(unsigned int channel, double scale) override | |
| 1043 | { | ||
| 1044 | 1 | device.setScale(channel, scale); | |
| 1045 | 1 | } | |
| 1046 | |||
| 1047 | 1 | void setOffset(unsigned int channel, double offset) override | |
| 1048 | { | ||
| 1049 | 1 | device.setOffset(channel, offset); | |
| 1050 | 1 | } | |
| 1051 | |||
| 1052 | protected: | ||
| 1053 | 2 | ChannelValue getInputAt(size_t i) const override | |
| 1054 | { | ||
| 1055 | // Kind blocks concatenated in inputKinds() order: all "Input" | ||
| 1056 | // channels first, then all "Status" channels. | ||
| 1057 | 2 | unsigned int numChannels = device.numChannels(); | |
| 1058 |
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2 | if (i < numChannels) { |
| 1059 | 1 | return device.getInput(static_cast<unsigned int>(i)); | |
| 1060 | } | ||
| 1061 | else { | ||
| 1062 | return device.getStatus( | ||
| 1063 | 1 | static_cast<unsigned int>(i) - numChannels); | |
| 1064 | } | ||
| 1065 | } | ||
| 1066 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 1067 | { | ||
| 1068 | ✗ | throw UnknownChannel("Ex3xxx has no output channels."); | |
| 1069 | } | ||
| 1070 | |||
| 1071 | private: | ||
| 1072 | 2 | static typename Ex3xxx<mode>::InputType map(AnalogInputType t) | |
| 1073 | { | ||
| 1074 |
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2 | switch (t) { |
| 1075 | ✗ | case AnalogInputType::PlusMinus10V: | |
| 1076 | ✗ | return Ex3xxx<mode>::InputPlusMinus10V; | |
| 1077 | ✗ | case AnalogInputType::PlusMinus20mA: | |
| 1078 | ✗ | return Ex3xxx<mode>::InputPlusMinus20mA; | |
| 1079 | ✗ | case AnalogInputType::ZeroTo10V: | |
| 1080 | ✗ | return Ex3xxx<mode>::Input0To10V; | |
| 1081 | ✗ | case AnalogInputType::ZeroTo20mA: | |
| 1082 | ✗ | return Ex3xxx<mode>::Input0To20mA; | |
| 1083 | 2 | case AnalogInputType::FourTo20mA: | |
| 1084 | default: | ||
| 1085 | 2 | return Ex3xxx<mode>::Input4To20mA; | |
| 1086 | } | ||
| 1087 | } | ||
| 1088 | |||
| 1089 | Ex3xxx<mode> device; | ||
| 1090 | std::vector<ChannelKind> inputKinds_; | ||
| 1091 | std::vector<ChannelKind> outputKinds_; | ||
| 1092 | }; | ||
| 1093 | |||
| 1094 | /****************************************************************************/ | ||
| 1095 | |||
| 1096 | namespace { | ||
| 1097 | |||
| 1098 | 204 | DeviceFactoryFn makeEx3xxxFactory(unsigned int typeIdx) | |
| 1099 | { | ||
| 1100 | 4 | return [typeIdx](const SlaveContext &ctx) -> unique_ptr<SubDevice> { | |
| 1101 |
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2 | if (ctx.mode == Mode::Control) { |
| 1102 | ✗ | return make_unique<Ex3xxxAdapter<Mode::Control>>( | |
| 1103 | ✗ | ctx, static_cast<Ex3xxx<Mode::Control>::Type>(typeIdx)); | |
| 1104 | } | ||
| 1105 | else { | ||
| 1106 |
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4 | return make_unique<Ex3xxxAdapter<Mode::Simulation>>( |
| 1107 | ctx, | ||
| 1108 | 6 | static_cast<Ex3xxx<Mode::Simulation>::Type>(typeIdx)); | |
| 1109 | } | ||
| 1110 | 204 | }; | |
| 1111 | } | ||
| 1112 | |||
| 1113 | struct Ex3xxxRegistrations | ||
| 1114 | { | ||
| 1115 | 12 | Ex3xxxRegistrations() | |
| 1116 | { | ||
| 1117 |
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216 | for (unsigned int i = 0; i < Ex3xxx<Mode::Control>::NumTypes; i++) { |
| 1118 | 204 | const auto &t = ex3xxxType[i]; | |
| 1119 |
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1020 | Registry::instance().add( |
| 1120 | 408 | {t.name, __FILE__, 0x00000002, t.product_code, | |
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408 | AnyRevision, wrapFactory(makeEx3xxxFactory(i))}); |
| 1122 | } | ||
| 1123 | 12 | } | |
| 1124 | 12 | } ex3xxxRegistrations; | |
| 1125 | |||
| 1126 | } // namespace | ||
| 1127 | |||
| 1128 | 36 | } // namespace EcApp | |
| 1129 | |||
| 1130 | /****************************************************************************/ | ||
| 1131 |