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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 analog input terminals with a scaled double-value |
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* channel plus a status byte per channel: EL3008, EL3024, EL3054, |
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* EL3062(-0030), EL3068, EL3074, EL3102, EL3104, EL3122, EL3164, |
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* EL3182, EL3311, EL3318, EL3602-0010, EM3702, EPP3184. This grouping |
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* is an implementation detail -- application code never names Ex3xxx |
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* directly, it goes through createSubDevice("EL3008") and gets an |
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* EcApp::SubDevice back. |
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* |
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* A subset (EL3074, EPP3184) supports a switchable measuring range, |
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* exposed generically via the IAnalogInputType capability rather than |
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* as a plain virtual on SubDevice -- most Ex3xxx types don't have it, |
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* and every future analog family would otherwise have to grow the base |
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* interface too. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_EX3XXX_H |
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#define ECAPP_EX3XXX_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 Ex3xxxType; |
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template <Mode mode> |
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class Ex3xxxAdapter; // Ex3xxx.cpp -- the SubDevice wrapping this class, |
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// friended below so it can reach the raw |
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// input/status/scale/offset vectors directly for |
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// pdserv publishing, without a dedicated getter |
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// per vector. |
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template <Mode mode> |
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class Ex3xxx |
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{ |
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friend class Ex3xxxAdapter<mode>; |
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public: |
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enum Type { |
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EL3008, |
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EL3024, |
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EL3054, |
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EL3062, |
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EL3062_0030, |
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EL3068, |
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EL3074, |
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EL3102, |
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EL3104, |
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EL3122, |
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EL3164, |
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EL3182, |
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EL3311, |
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EL3318, |
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EL3602_0010, |
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EM3702, |
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EPP3184, |
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NumTypes |
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}; |
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Ex3xxx(Master *, uint16_t, uint16_t, Domain *, Type); |
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enum InputType { |
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InputPlusMinus10V = 0, |
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Input0To20mA = 1, |
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Input4To20mA = 2, |
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InputPlusMinus20mA = 3, |
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Input0To10V = 6 |
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}; |
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// Pushes the requested range to the slave via SDO immediately; does |
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// nothing for a channel whose terminal type has no switchable range |
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// (see supportsInputType()). Must be called before the master is |
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// activated, and at most once per channel: the EtherCAT master |
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// queues every ecrt_slave_config_sdo*() call as a separate SDO |
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// download rather than replacing an earlier one for the same |
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// index/subindex, so a second call would not be an overwrite but |
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// an extra (wasted) download at activation time. Throws |
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// std::logic_error if called twice for the same channel. |
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void setInputType(unsigned int, InputType); |
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void update(); // reads status + scaled input for every channel |
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void setScale(unsigned int, double); |
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void setOffset(unsigned int, double); |
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uint8_t getStatus(unsigned int) const; // Control |
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double getInput(unsigned int) const; // Control |
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void setStatus(unsigned int, uint8_t) const; // Simulation |
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void setInput(unsigned int, double) const; // Simulation |
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unsigned int numChannels() const; |
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bool supportsInputType() const; |
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private: |
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const Ex3xxxType &type; |
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ec_slave_config_t *sc; |
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Domain *const domainIn; |
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std::vector<InputType> inputType; |
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std::vector<bool> inputTypeSet; // guards against a second |
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// setInputType() call per channel |
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std::vector<int> off_sts; |
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std::vector<int> off_in; |
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std::vector<uint8_t> status; |
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std::vector<double> scale; |
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std::vector<double> offset; |
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std::vector<double> input; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_EX3XXX_H |
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/****************************************************************************/ |
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