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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-style analog output terminals with a scaled double-value |
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* channel per output: EL4002, EL4012, EL4022, EL4028, EL4034, EL4102, |
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* EL4134. This grouping is an implementation detail -- application |
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* code never names Ex4xxx directly, it goes through |
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* createSubDevice("EL4022") and gets an Ecapp::SubDevice back. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_EX4XXX_H |
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#define ECAPP_EX4XXX_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 Ex4xxxType; |
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template <Mode mode> |
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class Ex4xxx |
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{ |
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public: |
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enum Type { |
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EL4002, |
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EL4012, |
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EL4022, |
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EL4028, |
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EL4034, |
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EL4102, |
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EL4134, |
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NumTypes |
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}; |
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Ex4xxx(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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Type); |
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void setFullScale(unsigned int, double); |
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void update(); // forcing logic, writes scaled output |
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void setOutput(unsigned int, double); // Control |
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double getOutput(unsigned int); // Simulation |
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unsigned int numChannels() const; |
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private: |
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const Ex4xxxType &type; |
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ec_slave_config_t *sc; |
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Domain *const domainOut; |
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std::vector<int> off_out; |
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std::vector<double> fullScale; |
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std::vector<double> input; |
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std::vector<uint8_t> enableForcing; // not vector<bool>: pdserv |
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// needs a contiguous array |
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std::vector<double> forcedValue; |
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std::vector<double> output; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_EX4XXX_H |
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/****************************************************************************/ |
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