| Directory: | ./ |
|---|---|
| File: | src/devices/IfmIoLink.cpp |
| Date: | 2026-09-23 16:22:15 |
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| Lines: | 38 | 541 | 7.0% |
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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 | * IO-Link port drivers for EL6224, for ifm sensors/actuators. | ||
| 22 | * | ||
| 23 | * Flow and pressure are converted to SI (m^3/s, Pa) here, even though | ||
| 24 | * the IODD documents them in L/h and bar: ecapp reports these two | ||
| 25 | * quantities in SI throughout. Temperature stays in degC, same as | ||
| 26 | * the IODD -- there is no SI temperature convention used instead. | ||
| 27 | * | ||
| 28 | ****************************************************************************/ | ||
| 29 | |||
| 30 | #include "ecapp/Domain.h" | ||
| 31 | #include "ecapp/Exceptions.h" | ||
| 32 | #include "ecapp/IoLinkDevice.h" | ||
| 33 | |||
| 34 | #include <arpa/inet.h> // ntohs(), ntohl() | ||
| 35 | #include <cstring> | ||
| 36 | #include <memory> | ||
| 37 | #include <sstream> | ||
| 38 | #include <stdexcept> | ||
| 39 | #include <string> | ||
| 40 | #include <vector> | ||
| 41 | |||
| 42 | using std::runtime_error; | ||
| 43 | using std::size_t; | ||
| 44 | using std::string; | ||
| 45 | using std::stringstream; | ||
| 46 | |||
| 47 | /****************************************************************************/ | ||
| 48 | |||
| 49 | namespace EcApp { | ||
| 50 | |||
| 51 | namespace { | ||
| 52 | |||
| 53 | /** L/h -> m^3/s. */ | ||
| 54 | constexpr float LitersPerHourToSI = 1.0f / 3.6e6f; | ||
| 55 | |||
| 56 | /** L/min -> m^3/s. */ | ||
| 57 | constexpr float LitersPerMinuteToSI = 1.0f / 6.0e4f; | ||
| 58 | |||
| 59 | /** bar -> Pa. */ | ||
| 60 | constexpr float BarToSI = 1e5f; | ||
| 61 | |||
| 62 | } // namespace | ||
| 63 | |||
| 64 | /****************************************************************************/ | ||
| 65 | // ifm SU6020/SU8020 (flow/temperature sensor, one digital output). | ||
| 66 | /****************************************************************************/ | ||
| 67 | |||
| 68 | 1 | class IfmSU : public IoLinkDevice | |
| 69 | { | ||
| 70 | public: | ||
| 71 | 1 | IfmSU(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 72 |
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1 | IoLinkDevice(pdServ, task, prefix) |
| 73 | { | ||
| 74 |
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1 | registerInputChannel("Flow", flow); |
| 75 |
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1 | registerInputChannel("Temperature", temperature); |
| 76 |
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1 | registerInputChannel("Out1", out1); |
| 77 |
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1 | registerInputChannel("Out2", out2); |
| 78 |
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1 | registerInputChannel("State", state); |
| 79 | 1 | } | |
| 80 | |||
| 81 | ✗ | void updateOutputs() override | |
| 82 | { | ||
| 83 | ✗ | if (domainOut_ && domainOut_->getData()) { | |
| 84 | ✗ | EC_WRITE_BIT( | |
| 85 | domainOut_->getData() + offReset, bitOffReset, reset); | ||
| 86 | } | ||
| 87 | } | ||
| 88 | |||
| 89 | ✗ | bool addOutputs( | |
| 90 | ec_slave_config_t *sc, | ||
| 91 | uint16_t pdoIndex, | ||
| 92 | uint16_t pdoEntryIndex, | ||
| 93 | Domain *) override | ||
| 94 | { | ||
| 95 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 2, pdoIndex)) { | |
| 96 | ✗ | stringstream err; | |
| 97 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 98 | ✗ | throw runtime_error(err.str()); | |
| 99 | } | ||
| 100 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 101 | ✗ | stringstream err; | |
| 102 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 103 | ✗ | throw runtime_error(err.str()); | |
| 104 | } | ||
| 105 | ✗ | if (ecrt_slave_config_pdo_mapping_add(sc, pdoIndex, 0x0000, 0x00, 4) | |
| 106 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 107 | sc, pdoIndex, pdoEntryIndex, 0x01, 1) | ||
| 108 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 109 | sc, pdoIndex, pdoEntryIndex, 0x02, 1) | ||
| 110 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 111 | sc, pdoIndex, 0x0000, 0x00, 2) | ||
| 112 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 113 | sc, pdoIndex, 0x0000, 0x00, 8)) { | ||
| 114 | ✗ | stringstream err; | |
| 115 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 116 | ✗ | throw runtime_error(err.str()); | |
| 117 | } | ||
| 118 | |||
| 119 | /* ifm SU6020/SU8020 Outputs | ||
| 120 | * {0x0000, 0x00, 4}, Gap | ||
| 121 | * {0x7000, 0x01, 1}, Totalizer Reset and Inactive | ||
| 122 | * {0x7000, 0x02, 1}, Flow Override | ||
| 123 | * {0x0000, 0x00, 2}, Gap | ||
| 124 | * {0x0000, 0x00, 8}, Gap | ||
| 125 | */ | ||
| 126 | ✗ | outputPdoEntryIndex = pdoEntryIndex; | |
| 127 | ✗ | return true; | |
| 128 | } | ||
| 129 | |||
| 130 | ✗ | void registerOutputs(ec_slave_config_t *sc, Domain *domainOut) override | |
| 131 | { | ||
| 132 | ✗ | domainOut_ = domainOut; | |
| 133 | ✗ | offReset = ecrt_slave_config_reg_pdo_entry( | |
| 134 | ✗ | sc, outputPdoEntryIndex, 0x01, domainOut->getDomain(), | |
| 135 | &bitOffReset); | ||
| 136 | ✗ | if (offReset < 0) { | |
| 137 | ✗ | stringstream err; | |
| 138 | ✗ | err << "Failed to register output PDO entry " | |
| 139 | ✗ | << outputPdoEntryIndex << " 0x01."; | |
| 140 | ✗ | throw runtime_error(err.str()); | |
| 141 | } | ||
| 142 | } | ||
| 143 | |||
| 144 | ✗ | bool addInputs( | |
| 145 | ec_slave_config_t *sc, | ||
| 146 | uint16_t pdoIndex, | ||
| 147 | uint16_t pdoEntryIndex, | ||
| 148 | Domain *) override | ||
| 149 | { | ||
| 150 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 151 | ✗ | stringstream err; | |
| 152 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 153 | ✗ | throw runtime_error(err.str()); | |
| 154 | } | ||
| 155 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 156 | ✗ | stringstream err; | |
| 157 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 158 | ✗ | throw runtime_error(err.str()); | |
| 159 | } | ||
| 160 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 161 | sc, pdoIndex, pdoEntryIndex, 0x01, 32) | ||
| 162 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 163 | sc, pdoIndex, pdoEntryIndex, 0x02, 32) | ||
| 164 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 165 | sc, pdoIndex, 0x0000, 0x00, 16) | ||
| 166 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 167 | sc, pdoIndex, pdoEntryIndex, 0x03, 32) | ||
| 168 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 169 | sc, pdoIndex, 0x0000, 0x00, 8) | ||
| 170 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 171 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) | ||
| 172 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 173 | sc, pdoIndex, pdoEntryIndex, 0x05, 1) | ||
| 174 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 175 | sc, pdoIndex, 0x0000, 0x00, 2) | ||
| 176 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 177 | sc, pdoIndex, pdoEntryIndex, 0x06, 4)) { | ||
| 178 | ✗ | stringstream err; | |
| 179 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 180 | ✗ | throw runtime_error(err.str()); | |
| 181 | } | ||
| 182 | |||
| 183 | /* ifm SU6020/SU8020 Inputs | ||
| 184 | * {0x6000, 0x01, 32}, Totalizer (REAL) | ||
| 185 | * {0x6000, 0x02, 32}, Flow (DINT) | ||
| 186 | * {0x0000, 0x00, 16}, Gap | ||
| 187 | * {0x6000, 0x03, 32}, Temperature (DINT) | ||
| 188 | * {0x0000, 0x00, 8}, Gap | ||
| 189 | * {0x6000, 0x04, 1}, OUT1 | ||
| 190 | * {0x6000, 0x05, 1}, OUT2 | ||
| 191 | * {0x0000, 0x00, 2}, Gap | ||
| 192 | * {0x6000, 0x06, 4}, Device Status | ||
| 193 | */ | ||
| 194 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 195 | ✗ | return true; | |
| 196 | } | ||
| 197 | |||
| 198 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 199 | { | ||
| 200 | ✗ | domainIn_ = domainIn; | |
| 201 | ✗ | offFlow = ecrt_slave_config_reg_pdo_entry( | |
| 202 | ✗ | sc, inputPdoEntryIndex, 0x02, domainIn->getDomain(), NULL); | |
| 203 | ✗ | offTemp = ecrt_slave_config_reg_pdo_entry( | |
| 204 | ✗ | sc, inputPdoEntryIndex, 0x03, domainIn->getDomain(), NULL); | |
| 205 | ✗ | offDig = ecrt_slave_config_reg_pdo_entry( | |
| 206 | ✗ | sc, inputPdoEntryIndex, 0x04, domainIn->getDomain(), NULL); | |
| 207 | ✗ | if (offFlow < 0 || offTemp < 0 || offDig < 0) { | |
| 208 | ✗ | stringstream err; | |
| 209 | ✗ | err << "Failed to register IfmSU input PDO entry."; | |
| 210 | ✗ | throw runtime_error(err.str()); | |
| 211 | } | ||
| 212 | } | ||
| 213 | |||
| 214 | 5 | const std::vector<ChannelKind> &inputKinds() const override | |
| 215 | { | ||
| 216 | 5 | return inputKinds_; | |
| 217 | } | ||
| 218 | 1 | const std::vector<ChannelKind> &outputKinds() const override | |
| 219 | { | ||
| 220 | 1 | return outputKinds_; | |
| 221 | } | ||
| 222 | |||
| 223 | protected: | ||
| 224 | 2 | ChannelValue getInputAt(size_t i) const override | |
| 225 | { | ||
| 226 |
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2 | switch (i) { |
| 227 | 2 | case 0: | |
| 228 | 2 | return flow; | |
| 229 | ✗ | case 1: | |
| 230 | ✗ | return temperature; | |
| 231 | ✗ | case 2: | |
| 232 | ✗ | return out1; | |
| 233 | ✗ | case 3: | |
| 234 | ✗ | return out2; | |
| 235 | ✗ | case 4: | |
| 236 | ✗ | return uint16_t(state); | |
| 237 | ✗ | default: | |
| 238 | ✗ | throw UnknownChannel("IfmSU: invalid channel index."); | |
| 239 | } | ||
| 240 | } | ||
| 241 | |||
| 242 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 243 | { | ||
| 244 | throw UnknownChannel( | ||
| 245 | ✗ | "IfmSU has no generically exposed output channels."); | |
| 246 | } | ||
| 247 | |||
| 248 | int offReset = -1; | ||
| 249 | unsigned int bitOffReset = 0; | ||
| 250 | bool reset = false; // never driven -- ported as-is from bda, | ||
| 251 | // which never exposed a way to set it either | ||
| 252 | |||
| 253 | int offFlow = -1; | ||
| 254 | float flow = 0.0f; // m^3/s | ||
| 255 | int offTemp = -1; | ||
| 256 | float temperature = 0.0f; // degC | ||
| 257 | int offDig = -1; | ||
| 258 | bool out1 = false; | ||
| 259 | bool out2 = false; | ||
| 260 | uint8_t state = 0; | ||
| 261 | |||
| 262 | protected: | ||
| 263 | Domain *domainOut_ = nullptr; | ||
| 264 | Domain *domainIn_ = nullptr; | ||
| 265 | |||
| 266 | private: | ||
| 267 | uint16_t outputPdoEntryIndex = 0x0000; | ||
| 268 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 269 | |||
| 270 | std::vector<ChannelKind> inputKinds_ { | ||
| 271 | {"Flow", 1, float(0)}, | ||
| 272 | {"Temperature", 1, float(0)}, | ||
| 273 | {"Out1", 1, false}, | ||
| 274 | {"Out2", 1, false}, | ||
| 275 | {"State", 1, uint16_t(0)}}; | ||
| 276 | std::vector<ChannelKind> outputKinds_; | ||
| 277 | }; | ||
| 278 | |||
| 279 | /****************************************************************************/ | ||
| 280 | |||
| 281 | 2 | class IfmSU6020 : public IfmSU | |
| 282 | { | ||
| 283 | public: | ||
| 284 | 1 | using IfmSU::IfmSU; | |
| 285 | |||
| 286 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 287 | { | ||
| 288 | // ifm-0005B3-20231003-IODD11-de.pdf, chapter "Kommunikation" | ||
| 289 | ✗ | IoLinkPortIdentity identity; | |
| 290 | ✗ | identity.vendorId = 310; | |
| 291 | ✗ | identity.deviceId = 0x0005B3; | |
| 292 | ✗ | identity.minCycleTimeMs = 9.6; | |
| 293 | ✗ | identity.processDataInBits = 128; | |
| 294 | ✗ | identity.processDataOutBits = 8; | |
| 295 | ✗ | identity.sioSupported = true; | |
| 296 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 297 | } | ||
| 298 | |||
| 299 | 1 | void updateInputs() override | |
| 300 | { | ||
| 301 | /* | ||
| 302 | * ifm-0005B3-20231003-IODD11-de.pdf | ||
| 303 | * Stroemung: [L/h] = MeasurementValue * 0.1 | ||
| 304 | * Temperatur: [degC] (-4400 to 12400) * 0.01 | ||
| 305 | * Status: 0 OK, 1 Wartung, 2 ausserhalb Spec, 3 Test, 4 Ausfall | ||
| 306 | */ | ||
| 307 |
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1 | if (!domainIn_) { |
| 308 | 1 | return; | |
| 309 | } | ||
| 310 | ✗ | int32_t raw = ntohl(EC_READ_S32(domainIn_->getData() + offFlow)); | |
| 311 | ✗ | flow = raw * 0.1f * LitersPerHourToSI; | |
| 312 | ✗ | raw = ntohl(EC_READ_S32(domainIn_->getData() + offTemp)); | |
| 313 | ✗ | temperature = raw * 1e-2f; | |
| 314 | ✗ | uint8_t byte = EC_READ_U8(domainIn_->getData() + offDig); | |
| 315 | ✗ | out1 = (byte & 0x01) != 0x00; | |
| 316 | ✗ | out2 = (byte & 0x02) != 0x00; | |
| 317 | ✗ | state = (byte >> 4); | |
| 318 | } | ||
| 319 | }; | ||
| 320 | |||
| 321 | /****************************************************************************/ | ||
| 322 | |||
| 323 | ✗ | class IfmSU8020 : public IfmSU | |
| 324 | { | ||
| 325 | public: | ||
| 326 | ✗ | using IfmSU::IfmSU; | |
| 327 | |||
| 328 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 329 | { | ||
| 330 | // ifm-0005B4-20231020-IODD11-de.pdf, chapter "Kommunikation" | ||
| 331 | ✗ | IoLinkPortIdentity identity; | |
| 332 | ✗ | identity.vendorId = 310; | |
| 333 | ✗ | identity.deviceId = 0x0005B4; | |
| 334 | ✗ | identity.minCycleTimeMs = 9.6; | |
| 335 | ✗ | identity.processDataInBits = 128; | |
| 336 | ✗ | identity.processDataOutBits = 8; | |
| 337 | ✗ | identity.sioSupported = true; | |
| 338 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 339 | } | ||
| 340 | |||
| 341 | ✗ | void updateInputs() override | |
| 342 | { | ||
| 343 | /* | ||
| 344 | * ifm-0005B4-20231020-IODD11-de.pdf | ||
| 345 | * Stroemung: [L/h] = MeasurementValue | ||
| 346 | * Temperatur: [degC] (-4400 to 12400) * 0.01 | ||
| 347 | */ | ||
| 348 | ✗ | if (!domainIn_) { | |
| 349 | ✗ | return; | |
| 350 | } | ||
| 351 | ✗ | int32_t raw = ntohl(EC_READ_S32(domainIn_->getData() + offFlow)); | |
| 352 | ✗ | flow = raw * LitersPerHourToSI; | |
| 353 | ✗ | raw = ntohl(EC_READ_S32(domainIn_->getData() + offTemp)); | |
| 354 | ✗ | temperature = raw * 1e-2f; | |
| 355 | ✗ | uint8_t byte = EC_READ_U8(domainIn_->getData() + offDig); | |
| 356 | ✗ | out1 = (byte & 0x01) != 0x00; | |
| 357 | ✗ | out2 = (byte & 0x02) != 0x00; | |
| 358 | ✗ | state = (byte >> 4); | |
| 359 | } | ||
| 360 | }; | ||
| 361 | |||
| 362 | /****************************************************************************/ | ||
| 363 | // ifm PV8004 (pressure/temperature sensor, no outputs). | ||
| 364 | /****************************************************************************/ | ||
| 365 | |||
| 366 | ✗ | class IfmPV8004 : public IoLinkDevice | |
| 367 | { | ||
| 368 | public: | ||
| 369 | ✗ | IfmPV8004(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 370 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 371 | { | ||
| 372 | ✗ | registerInputChannel("Pressure", pressure); | |
| 373 | ✗ | registerInputChannel("Temperature", temperature); | |
| 374 | ✗ | registerInputChannel("Out1", out1); | |
| 375 | ✗ | registerInputChannel("Out2", out2); | |
| 376 | ✗ | registerInputChannel("State", state); | |
| 377 | } | ||
| 378 | |||
| 379 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 380 | { | ||
| 381 | // ifm-0004BA-20200507-IODD11-de.pdf, chapter "Kommunikation" | ||
| 382 | ✗ | IoLinkPortIdentity identity; | |
| 383 | ✗ | identity.vendorId = 310; | |
| 384 | ✗ | identity.deviceId = 0x0004BA; | |
| 385 | ✗ | identity.minCycleTimeMs = 4.5; | |
| 386 | ✗ | identity.processDataInBits = 64; | |
| 387 | ✗ | identity.sioSupported = true; | |
| 388 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 389 | } | ||
| 390 | |||
| 391 | ✗ | bool addInputs( | |
| 392 | ec_slave_config_t *sc, | ||
| 393 | uint16_t pdoIndex, | ||
| 394 | uint16_t pdoEntryIndex, | ||
| 395 | Domain *) override | ||
| 396 | { | ||
| 397 | /* ifm PV8004 Inputs | ||
| 398 | * {0x6000, 0x01, 16}, Pressure (INT) | ||
| 399 | * {0x0000, 0x00, 16}, Gap | ||
| 400 | * {0x6000, 0x02, 16}, Temperature (INT) | ||
| 401 | * {0x0000, 0x00, 8}, Gap | ||
| 402 | * {0x6000, 0x03, 1}, OUT1 | ||
| 403 | * {0x6000, 0x04, 1}, OUT2 | ||
| 404 | * {0x0000, 0x00, 2}, Gap | ||
| 405 | * {0x6000, 0x05, 4}, Device Status | ||
| 406 | */ | ||
| 407 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 408 | ✗ | stringstream err; | |
| 409 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 410 | ✗ | throw runtime_error(err.str()); | |
| 411 | } | ||
| 412 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 413 | ✗ | stringstream err; | |
| 414 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 415 | ✗ | throw runtime_error(err.str()); | |
| 416 | } | ||
| 417 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 418 | sc, pdoIndex, pdoEntryIndex, 0x01, 16) | ||
| 419 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 420 | sc, pdoIndex, 0x0000, 0x00, 16) | ||
| 421 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 422 | sc, pdoIndex, pdoEntryIndex, 0x02, 16) | ||
| 423 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 424 | sc, pdoIndex, 0x0000, 0x00, 8) | ||
| 425 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 426 | sc, pdoIndex, pdoEntryIndex, 0x03, 1) | ||
| 427 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 428 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) | ||
| 429 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 430 | sc, pdoIndex, 0x0000, 0x00, 2) | ||
| 431 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 432 | sc, pdoIndex, pdoEntryIndex, 0x05, 4)) { | ||
| 433 | ✗ | stringstream err; | |
| 434 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 435 | ✗ | throw runtime_error(err.str()); | |
| 436 | } | ||
| 437 | |||
| 438 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 439 | ✗ | return true; | |
| 440 | } | ||
| 441 | |||
| 442 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 443 | { | ||
| 444 | ✗ | domainIn_ = domainIn; | |
| 445 | ✗ | offPressure = ecrt_slave_config_reg_pdo_entry( | |
| 446 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 447 | ✗ | offTemp = ecrt_slave_config_reg_pdo_entry( | |
| 448 | ✗ | sc, inputPdoEntryIndex, 0x02, domainIn->getDomain(), NULL); | |
| 449 | ✗ | offDig = ecrt_slave_config_reg_pdo_entry( | |
| 450 | ✗ | sc, inputPdoEntryIndex, 0x03, domainIn->getDomain(), NULL); | |
| 451 | ✗ | if (offPressure < 0 || offTemp < 0 || offDig < 0) { | |
| 452 | ✗ | stringstream err; | |
| 453 | ✗ | err << "Failed to register IfmPV8004 input PDO entry."; | |
| 454 | ✗ | throw runtime_error(err.str()); | |
| 455 | } | ||
| 456 | } | ||
| 457 | |||
| 458 | ✗ | void updateInputs() override | |
| 459 | { | ||
| 460 | /* | ||
| 461 | * ifm-0004BA-20200507-IODD11-de.pdf | ||
| 462 | * Druck: [bar] (-1000 to 10500) * 0.001 | ||
| 463 | * Temperatur: [degC] (-4500 to 9500) * 0.01 | ||
| 464 | */ | ||
| 465 | ✗ | if (!domainIn_) { | |
| 466 | ✗ | return; | |
| 467 | } | ||
| 468 | ✗ | int16_t raw = ntohs(EC_READ_S16(domainIn_->getData() + offPressure)); | |
| 469 | ✗ | pressure = raw * 1e-3f * BarToSI; | |
| 470 | ✗ | raw = ntohs(EC_READ_S16(domainIn_->getData() + offTemp)); | |
| 471 | ✗ | temperature = raw * 1e-2f; | |
| 472 | ✗ | uint8_t byte = EC_READ_U8(domainIn_->getData() + offDig); | |
| 473 | ✗ | out1 = (byte & 0x01) != 0x00; | |
| 474 | ✗ | out2 = (byte & 0x02) != 0x00; | |
| 475 | ✗ | state = (byte >> 4); | |
| 476 | } | ||
| 477 | ✗ | void updateOutputs() override {} | |
| 478 | |||
| 479 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 480 | { | ||
| 481 | ✗ | return inputKinds_; | |
| 482 | } | ||
| 483 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 484 | { | ||
| 485 | ✗ | return outputKinds_; | |
| 486 | } | ||
| 487 | |||
| 488 | protected: | ||
| 489 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 490 | { | ||
| 491 | ✗ | switch (i) { | |
| 492 | ✗ | case 0: | |
| 493 | ✗ | return pressure; | |
| 494 | ✗ | case 1: | |
| 495 | ✗ | return temperature; | |
| 496 | ✗ | case 2: | |
| 497 | ✗ | return out1; | |
| 498 | ✗ | case 3: | |
| 499 | ✗ | return out2; | |
| 500 | ✗ | case 4: | |
| 501 | ✗ | return uint16_t(state); | |
| 502 | ✗ | default: | |
| 503 | ✗ | throw UnknownChannel("IfmPV8004: invalid channel index."); | |
| 504 | } | ||
| 505 | } | ||
| 506 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 507 | { | ||
| 508 | ✗ | throw UnknownChannel("IfmPV8004 has no output channels."); | |
| 509 | } | ||
| 510 | |||
| 511 | private: | ||
| 512 | int offPressure = -1; | ||
| 513 | float pressure = 0.0f; // Pa | ||
| 514 | int offTemp = -1; | ||
| 515 | float temperature = 0.0f; // degC | ||
| 516 | int offDig = -1; | ||
| 517 | bool out1 = false; | ||
| 518 | bool out2 = false; | ||
| 519 | uint8_t state = 0; | ||
| 520 | |||
| 521 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 522 | Domain *domainIn_ = nullptr; | ||
| 523 | |||
| 524 | std::vector<ChannelKind> inputKinds_ { | ||
| 525 | {"Pressure", 1, float(0)}, | ||
| 526 | {"Temperature", 1, float(0)}, | ||
| 527 | {"Out1", 1, false}, | ||
| 528 | {"Out2", 1, false}, | ||
| 529 | {"State", 1, uint16_t(0)}}; | ||
| 530 | std::vector<ChannelKind> outputKinds_; | ||
| 531 | }; | ||
| 532 | |||
| 533 | /****************************************************************************/ | ||
| 534 | // ifm DV2131 (buzzer + LED outputs, feedback + status inputs). | ||
| 535 | /****************************************************************************/ | ||
| 536 | |||
| 537 | ✗ | class IfmDV2131 : public IoLinkDevice | |
| 538 | { | ||
| 539 | public: | ||
| 540 | ✗ | IfmDV2131(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 541 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 542 | { | ||
| 543 | ✗ | registerInputChannel("Feedback", feedback); | |
| 544 | ✗ | registerInputChannel("Status", status); | |
| 545 | ✗ | registerOutputChannel("EnableBuzzer", enableBuzzer); | |
| 546 | ✗ | registerOutputChannel("BuzzerStyle", buzzerStyle); | |
| 547 | ✗ | registerOutputChannel("LedStates", ledStates); | |
| 548 | } | ||
| 549 | |||
| 550 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 551 | { | ||
| 552 | ✗ | IoLinkPortIdentity identity; | |
| 553 | ✗ | identity.vendorId = 310; | |
| 554 | ✗ | identity.deviceId = 0x000498; | |
| 555 | ✗ | identity.minCycleTimeMs = 8.0; | |
| 556 | ✗ | identity.processDataInBits = 16; | |
| 557 | ✗ | identity.processDataOutBits = 16; | |
| 558 | ✗ | identity.sioSupported = true; | |
| 559 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 560 | } | ||
| 561 | |||
| 562 | ✗ | bool addOutputs( | |
| 563 | ec_slave_config_t *sc, | ||
| 564 | uint16_t pdoIndex, | ||
| 565 | uint16_t pdoEntryIndex, | ||
| 566 | Domain *) override | ||
| 567 | { | ||
| 568 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 2, pdoIndex)) { | |
| 569 | ✗ | stringstream err; | |
| 570 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 571 | ✗ | throw runtime_error(err.str()); | |
| 572 | } | ||
| 573 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 574 | ✗ | stringstream err; | |
| 575 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 576 | ✗ | throw runtime_error(err.str()); | |
| 577 | } | ||
| 578 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 579 | sc, pdoIndex, pdoEntryIndex, 0x01, 1) // buzzer | ||
| 580 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 581 | sc, pdoIndex, 0x0000, 0x00, 3) | ||
| 582 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 583 | sc, pdoIndex, pdoEntryIndex, 0x02, 3) // style | ||
| 584 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 585 | sc, pdoIndex, 0x0000, 0x00, 1) | ||
| 586 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 587 | sc, pdoIndex, pdoEntryIndex, 0x03, 1) // led-a | ||
| 588 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 589 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) // led-b | ||
| 590 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 591 | sc, pdoIndex, pdoEntryIndex, 0x05, 1) // led-c | ||
| 592 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 593 | sc, pdoIndex, 0x0000, 0x00, 5)) { | ||
| 594 | ✗ | stringstream err; | |
| 595 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 596 | ✗ | throw runtime_error(err.str()); | |
| 597 | } | ||
| 598 | |||
| 599 | ✗ | outputPdoEntryIndex = pdoEntryIndex; | |
| 600 | ✗ | return true; | |
| 601 | } | ||
| 602 | |||
| 603 | ✗ | bool addInputs( | |
| 604 | ec_slave_config_t *sc, | ||
| 605 | uint16_t pdoIndex, | ||
| 606 | uint16_t pdoEntryIndex, | ||
| 607 | Domain *) override | ||
| 608 | { | ||
| 609 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 610 | ✗ | stringstream err; | |
| 611 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 612 | ✗ | throw runtime_error(err.str()); | |
| 613 | } | ||
| 614 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 615 | ✗ | stringstream err; | |
| 616 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 617 | ✗ | throw runtime_error(err.str()); | |
| 618 | } | ||
| 619 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 620 | sc, pdoIndex, pdoEntryIndex, 0x01, 1) // feedback | ||
| 621 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 622 | sc, pdoIndex, 0x0000, 0x00, 7) | ||
| 623 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 624 | sc, pdoIndex, pdoEntryIndex, 0x02, 1) // status1 | ||
| 625 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 626 | sc, pdoIndex, pdoEntryIndex, 0x03, 1) // status2 | ||
| 627 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 628 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) // status3 | ||
| 629 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 630 | sc, pdoIndex, pdoEntryIndex, 0x05, 1) // status4 | ||
| 631 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 632 | sc, pdoIndex, pdoEntryIndex, 0x06, 1) // status5 | ||
| 633 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 634 | sc, pdoIndex, pdoEntryIndex, 0x07, 1) // status6 | ||
| 635 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 636 | sc, pdoIndex, pdoEntryIndex, 0x08, 1) // status7 | ||
| 637 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 638 | sc, pdoIndex, pdoEntryIndex, 0x09, 1)) { // st.8 | ||
| 639 | ✗ | stringstream err; | |
| 640 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 641 | ✗ | throw runtime_error(err.str()); | |
| 642 | } | ||
| 643 | |||
| 644 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 645 | ✗ | return true; | |
| 646 | } | ||
| 647 | |||
| 648 | ✗ | void registerOutputs(ec_slave_config_t *sc, Domain *domainOut) override | |
| 649 | { | ||
| 650 | ✗ | domainOut_ = domainOut; | |
| 651 | ✗ | offBuzzer = ecrt_slave_config_reg_pdo_entry( | |
| 652 | ✗ | sc, outputPdoEntryIndex, 0x01, domainOut->getDomain(), NULL); | |
| 653 | ✗ | offLed = ecrt_slave_config_reg_pdo_entry( | |
| 654 | ✗ | sc, outputPdoEntryIndex, 0x03, domainOut->getDomain(), NULL); | |
| 655 | ✗ | if (offBuzzer < 0 || offLed < 0) { | |
| 656 | ✗ | stringstream err; | |
| 657 | ✗ | err << "Failed to register IfmDV2131 output PDO entry."; | |
| 658 | ✗ | throw runtime_error(err.str()); | |
| 659 | } | ||
| 660 | } | ||
| 661 | |||
| 662 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 663 | { | ||
| 664 | ✗ | domainIn_ = domainIn; | |
| 665 | ✗ | offFeedback = ecrt_slave_config_reg_pdo_entry( | |
| 666 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 667 | ✗ | offStatus = ecrt_slave_config_reg_pdo_entry( | |
| 668 | ✗ | sc, inputPdoEntryIndex, 0x02, domainIn->getDomain(), NULL); | |
| 669 | ✗ | if (offFeedback < 0 || offStatus < 0) { | |
| 670 | ✗ | stringstream err; | |
| 671 | ✗ | err << "Failed to register IfmDV2131 input PDO entry."; | |
| 672 | ✗ | throw runtime_error(err.str()); | |
| 673 | } | ||
| 674 | } | ||
| 675 | |||
| 676 | ✗ | void updateInputs() override | |
| 677 | { | ||
| 678 | ✗ | if (!domainIn_ || !domainIn_->getData()) { | |
| 679 | ✗ | return; | |
| 680 | } | ||
| 681 | ✗ | feedback = EC_READ_U8(domainIn_->getData() + offFeedback) & 0x01; | |
| 682 | ✗ | status = EC_READ_U8(domainIn_->getData() + offStatus); | |
| 683 | } | ||
| 684 | |||
| 685 | ✗ | void updateOutputs() override | |
| 686 | { | ||
| 687 | ✗ | if (!domainOut_ || !domainOut_->getData()) { | |
| 688 | ✗ | return; | |
| 689 | } | ||
| 690 | ✗ | EC_WRITE_U8( | |
| 691 | domainOut_->getData() + offBuzzer, | ||
| 692 | enableBuzzer | (buzzerStyle << 4)); | ||
| 693 | ✗ | EC_WRITE_U8(domainOut_->getData() + offLed, ledStates); | |
| 694 | } | ||
| 695 | |||
| 696 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 697 | { | ||
| 698 | ✗ | return inputKinds_; | |
| 699 | } | ||
| 700 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 701 | { | ||
| 702 | ✗ | return outputKinds_; | |
| 703 | } | ||
| 704 | |||
| 705 | protected: | ||
| 706 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 707 | { | ||
| 708 | ✗ | switch (i) { | |
| 709 | ✗ | case 0: | |
| 710 | ✗ | return uint16_t(feedback); | |
| 711 | ✗ | case 1: | |
| 712 | ✗ | return uint16_t(status); | |
| 713 | ✗ | default: | |
| 714 | ✗ | throw UnknownChannel("IfmDV2131: invalid channel index."); | |
| 715 | } | ||
| 716 | } | ||
| 717 | ✗ | void setOutputAt(size_t i, const ChannelValue &value) override | |
| 718 | { | ||
| 719 | ✗ | switch (i) { | |
| 720 | ✗ | case 0: | |
| 721 | ✗ | enableBuzzer = std::get<uint16_t>(value) ? 1 : 0; | |
| 722 | ✗ | return; | |
| 723 | ✗ | case 1: | |
| 724 | ✗ | buzzerStyle = static_cast<uint8_t>(std::get<uint16_t>(value)); | |
| 725 | ✗ | return; | |
| 726 | ✗ | case 2: | |
| 727 | ✗ | ledStates = static_cast<uint8_t>(std::get<uint16_t>(value)); | |
| 728 | ✗ | return; | |
| 729 | ✗ | default: | |
| 730 | ✗ | throw UnknownChannel("IfmDV2131: invalid channel index."); | |
| 731 | } | ||
| 732 | } | ||
| 733 | |||
| 734 | private: | ||
| 735 | int offBuzzer = -1; | ||
| 736 | uint8_t enableBuzzer = 0; | ||
| 737 | uint8_t buzzerStyle = 0; | ||
| 738 | |||
| 739 | int offLed = -1; | ||
| 740 | uint8_t ledStates = 0; | ||
| 741 | |||
| 742 | int offFeedback = -1; | ||
| 743 | uint8_t feedback = 0; | ||
| 744 | |||
| 745 | int offStatus = -1; | ||
| 746 | uint8_t status = 0; | ||
| 747 | |||
| 748 | uint16_t outputPdoEntryIndex = 0x0000; | ||
| 749 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 750 | Domain *domainOut_ = nullptr; | ||
| 751 | Domain *domainIn_ = nullptr; | ||
| 752 | |||
| 753 | std::vector<ChannelKind> inputKinds_ { | ||
| 754 | {"Feedback", 1, uint16_t(0)}, | ||
| 755 | {"Status", 1, uint16_t(0)}}; | ||
| 756 | std::vector<ChannelKind> outputKinds_ { | ||
| 757 | {"EnableBuzzer", 1, uint16_t(0)}, | ||
| 758 | {"BuzzerStyle", 1, uint16_t(0)}, | ||
| 759 | {"LedStates", 1, uint16_t(0)}}; | ||
| 760 | }; | ||
| 761 | |||
| 762 | /****************************************************************************/ | ||
| 763 | // ifm SM4000 (flow/temperature sensor, inputs only, single combined | ||
| 764 | // 64-bit process value -- no digital outputs, no device-status byte). | ||
| 765 | /****************************************************************************/ | ||
| 766 | |||
| 767 | ✗ | class IfmSM4000 : public IoLinkDevice | |
| 768 | { | ||
| 769 | public: | ||
| 770 | ✗ | IfmSM4000(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 771 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 772 | { | ||
| 773 | ✗ | registerInputChannel("Flow", flow); | |
| 774 | ✗ | registerInputChannel("Temperature", temperature); | |
| 775 | } | ||
| 776 | |||
| 777 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 778 | { | ||
| 779 | // ifm-SM4000-20170209-IODD11-de.pdf, chapter "Kommunikation" | ||
| 780 | ✗ | IoLinkPortIdentity identity; | |
| 781 | ✗ | identity.vendorId = 310; | |
| 782 | ✗ | identity.deviceId = 0x00029F; | |
| 783 | ✗ | identity.minCycleTimeMs = 5.0; | |
| 784 | ✗ | identity.processDataInBits = 64; | |
| 785 | ✗ | identity.sioSupported = true; | |
| 786 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 787 | } | ||
| 788 | |||
| 789 | ✗ | bool addInputs( | |
| 790 | ec_slave_config_t *sc, | ||
| 791 | uint16_t pdoIndex, | ||
| 792 | uint16_t pdoEntryIndex, | ||
| 793 | Domain *) override | ||
| 794 | { | ||
| 795 | /* | ||
| 796 | * IO-Link Port1: process data, ARRAY [0..7] OF USINT (64 bit) | ||
| 797 | */ | ||
| 798 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 799 | ✗ | stringstream err; | |
| 800 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 801 | ✗ | throw runtime_error(err.str()); | |
| 802 | } | ||
| 803 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 804 | ✗ | stringstream err; | |
| 805 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 806 | ✗ | throw runtime_error(err.str()); | |
| 807 | } | ||
| 808 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 809 | ✗ | sc, pdoIndex, pdoEntryIndex, 0x01, 64)) { | |
| 810 | ✗ | stringstream err; | |
| 811 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 812 | ✗ | throw runtime_error(err.str()); | |
| 813 | } | ||
| 814 | |||
| 815 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 816 | ✗ | return true; | |
| 817 | } | ||
| 818 | |||
| 819 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 820 | { | ||
| 821 | ✗ | domainIn_ = domainIn; | |
| 822 | ✗ | offIn = ecrt_slave_config_reg_pdo_entry( | |
| 823 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 824 | ✗ | if (offIn < 0) { | |
| 825 | ✗ | stringstream err; | |
| 826 | ✗ | err << "Failed to register IfmSM4000 input PDO entry."; | |
| 827 | ✗ | throw runtime_error(err.str()); | |
| 828 | } | ||
| 829 | } | ||
| 830 | |||
| 831 | ✗ | void updateInputs() override | |
| 832 | { | ||
| 833 | /* | ||
| 834 | * ifm-SM4000-20170209-IODD11-de.pdf | ||
| 835 | * Durchfluss: [L/min] (-1999 to 3600) * 0.001 | ||
| 836 | * Temperatur: 14 bit (LSB sind OUT1 und OUT2), * 0.1 degC | ||
| 837 | */ | ||
| 838 | ✗ | if (!domainIn_) { | |
| 839 | ✗ | return; | |
| 840 | } | ||
| 841 | ✗ | int16_t raw = ntohs(EC_READ_S16(domainIn_->getData() + offIn + 4)); | |
| 842 | ✗ | flow = raw * 0.06f * LitersPerHourToSI; | |
| 843 | ✗ | uint16_t uraw = ntohs(EC_READ_U16(domainIn_->getData() + offIn + 6)); | |
| 844 | // arithmetic shift on the *signed* word sign-extends the 14-bit | ||
| 845 | // temperature field correctly; OUT1/OUT2 are its two LSBs. | ||
| 846 | ✗ | temperature = (static_cast<int16_t>(uraw) >> 2) * 0.1f; | |
| 847 | } | ||
| 848 | ✗ | void updateOutputs() override {} | |
| 849 | |||
| 850 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 851 | { | ||
| 852 | ✗ | return inputKinds_; | |
| 853 | } | ||
| 854 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 855 | { | ||
| 856 | ✗ | return outputKinds_; | |
| 857 | } | ||
| 858 | |||
| 859 | protected: | ||
| 860 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 861 | { | ||
| 862 | ✗ | switch (i) { | |
| 863 | ✗ | case 0: | |
| 864 | ✗ | return flow; | |
| 865 | ✗ | case 1: | |
| 866 | ✗ | return temperature; | |
| 867 | ✗ | default: | |
| 868 | ✗ | throw UnknownChannel("IfmSM4000: invalid channel index."); | |
| 869 | } | ||
| 870 | } | ||
| 871 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 872 | { | ||
| 873 | ✗ | throw UnknownChannel("IfmSM4000 has no output channels."); | |
| 874 | } | ||
| 875 | |||
| 876 | private: | ||
| 877 | int offIn = -1; | ||
| 878 | float flow = 0.0f; // m^3/s | ||
| 879 | float temperature = 0.0f; // degC | ||
| 880 | |||
| 881 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 882 | Domain *domainIn_ = nullptr; | ||
| 883 | |||
| 884 | std::vector<ChannelKind> inputKinds_ { | ||
| 885 | {"Flow", 1, float(0)}, | ||
| 886 | {"Temperature", 1, float(0)}}; | ||
| 887 | std::vector<ChannelKind> outputKinds_; | ||
| 888 | }; | ||
| 889 | |||
| 890 | /****************************************************************************/ | ||
| 891 | // ifm SM7000 (flow/temperature sensor with totalizer, inputs only -- | ||
| 892 | // same wire layout as SM4000 plus a leading 32-bit float totalizer). | ||
| 893 | /****************************************************************************/ | ||
| 894 | |||
| 895 | ✗ | class IfmSM7000 : public IoLinkDevice | |
| 896 | { | ||
| 897 | public: | ||
| 898 | ✗ | IfmSM7000(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 899 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 900 | { | ||
| 901 | ✗ | registerInputChannel("Totalizer", totalizer); | |
| 902 | ✗ | registerInputChannel("Flow", flow); | |
| 903 | ✗ | registerInputChannel("Temperature", temperature); | |
| 904 | ✗ | registerInputChannel("Out1", out1); | |
| 905 | ✗ | registerInputChannel("Out2", out2); | |
| 906 | } | ||
| 907 | |||
| 908 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 909 | { | ||
| 910 | // ifm-SM7000-20161103-IODD11-de.pdf, page 1 ("SM") and page 2 | ||
| 911 | // ("Gesamt Bitlaenge = 64") | ||
| 912 | ✗ | IoLinkPortIdentity identity; | |
| 913 | ✗ | identity.vendorId = 310; | |
| 914 | ✗ | identity.deviceId = 0x00023C; | |
| 915 | ✗ | identity.minCycleTimeMs = 5.0; | |
| 916 | ✗ | identity.processDataInBits = 64; | |
| 917 | ✗ | identity.sioSupported = true; | |
| 918 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 919 | } | ||
| 920 | |||
| 921 | ✗ | bool addInputs( | |
| 922 | ec_slave_config_t *sc, | ||
| 923 | uint16_t pdoIndex, | ||
| 924 | uint16_t pdoEntryIndex, | ||
| 925 | Domain *) override | ||
| 926 | { | ||
| 927 | /* | ||
| 928 | * IO-Link Port1: process data, ARRAY [0..7] OF USINT (64 bit) | ||
| 929 | */ | ||
| 930 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 931 | ✗ | stringstream err; | |
| 932 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 933 | ✗ | throw runtime_error(err.str()); | |
| 934 | } | ||
| 935 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 936 | ✗ | stringstream err; | |
| 937 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 938 | ✗ | throw runtime_error(err.str()); | |
| 939 | } | ||
| 940 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 941 | ✗ | sc, pdoIndex, pdoEntryIndex, 0x01, 64)) { | |
| 942 | ✗ | stringstream err; | |
| 943 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 944 | ✗ | throw runtime_error(err.str()); | |
| 945 | } | ||
| 946 | |||
| 947 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 948 | ✗ | return true; | |
| 949 | } | ||
| 950 | |||
| 951 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 952 | { | ||
| 953 | ✗ | domainIn_ = domainIn; | |
| 954 | ✗ | offIn = ecrt_slave_config_reg_pdo_entry( | |
| 955 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 956 | ✗ | if (offIn < 0) { | |
| 957 | ✗ | stringstream err; | |
| 958 | ✗ | err << "Failed to register IfmSM7000 input PDO entry."; | |
| 959 | ✗ | throw runtime_error(err.str()); | |
| 960 | } | ||
| 961 | } | ||
| 962 | |||
| 963 | ✗ | void updateInputs() override | |
| 964 | { | ||
| 965 | /* | ||
| 966 | * ifm-SM7000-20161103-IODD11-de.pdf, Gesamt Bitlaenge = 64 | ||
| 967 | * Totalisator: Float32T (IEEE754), unveraendert seit Reset, [l] | ||
| 968 | * Durchfluss: [l/min] (-6000 to 6000) * 0.01 | ||
| 969 | * Temperatur: 14 bit (LSB sind OUT1 und OUT2), * 0.1 degC | ||
| 970 | */ | ||
| 971 | ✗ | if (!domainIn_) { | |
| 972 | ✗ | return; | |
| 973 | } | ||
| 974 | ✗ | uint32_t totalBits = ntohl(EC_READ_U32(domainIn_->getData() + offIn)); | |
| 975 | float totalLiters; | ||
| 976 | ✗ | std::memcpy(&totalLiters, &totalBits, sizeof(totalLiters)); | |
| 977 | ✗ | totalizer = totalLiters * 1e-3f; // l -> m^3 | |
| 978 | |||
| 979 | ✗ | int16_t raw = ntohs(EC_READ_S16(domainIn_->getData() + offIn + 4)); | |
| 980 | ✗ | flow = raw * 0.01f * LitersPerMinuteToSI; | |
| 981 | |||
| 982 | ✗ | uint16_t uraw = ntohs(EC_READ_U16(domainIn_->getData() + offIn + 6)); | |
| 983 | // arithmetic shift on the *signed* word sign-extends the 14-bit | ||
| 984 | // temperature field correctly; OUT1/OUT2 are its two LSBs. | ||
| 985 | ✗ | temperature = (static_cast<int16_t>(uraw) >> 2) * 0.1f; | |
| 986 | ✗ | out1 = (uraw & 0x0001) != 0x0000; | |
| 987 | ✗ | out2 = (uraw & 0x0002) != 0x0000; | |
| 988 | } | ||
| 989 | ✗ | void updateOutputs() override {} | |
| 990 | |||
| 991 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 992 | { | ||
| 993 | ✗ | return inputKinds_; | |
| 994 | } | ||
| 995 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 996 | { | ||
| 997 | ✗ | return outputKinds_; | |
| 998 | } | ||
| 999 | |||
| 1000 | protected: | ||
| 1001 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 1002 | { | ||
| 1003 | ✗ | switch (i) { | |
| 1004 | ✗ | case 0: | |
| 1005 | ✗ | return totalizer; | |
| 1006 | ✗ | case 1: | |
| 1007 | ✗ | return flow; | |
| 1008 | ✗ | case 2: | |
| 1009 | ✗ | return temperature; | |
| 1010 | ✗ | case 3: | |
| 1011 | ✗ | return out1; | |
| 1012 | ✗ | case 4: | |
| 1013 | ✗ | return out2; | |
| 1014 | ✗ | default: | |
| 1015 | ✗ | throw UnknownChannel("IfmSM7000: invalid channel index."); | |
| 1016 | } | ||
| 1017 | } | ||
| 1018 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 1019 | { | ||
| 1020 | ✗ | throw UnknownChannel("IfmSM7000 has no output channels."); | |
| 1021 | } | ||
| 1022 | |||
| 1023 | private: | ||
| 1024 | int offIn = -1; | ||
| 1025 | float totalizer = 0.0f; // m^3 | ||
| 1026 | float flow = 0.0f; // m^3/s | ||
| 1027 | float temperature = 0.0f; // degC | ||
| 1028 | bool out1 = false; | ||
| 1029 | bool out2 = false; | ||
| 1030 | |||
| 1031 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 1032 | Domain *domainIn_ = nullptr; | ||
| 1033 | |||
| 1034 | std::vector<ChannelKind> inputKinds_ { | ||
| 1035 | {"Totalizer", 1, float(0)}, | ||
| 1036 | {"Flow", 1, float(0)}, | ||
| 1037 | {"Temperature", 1, float(0)}, | ||
| 1038 | {"Out1", 1, false}, | ||
| 1039 | {"Out2", 1, false}}; | ||
| 1040 | std::vector<ChannelKind> outputKinds_; | ||
| 1041 | }; | ||
| 1042 | |||
| 1043 | /****************************************************************************/ | ||
| 1044 | // ifm TA2105/TA2115/TA2135/TA2145/TA2345/TA2105/TA2405/TA2415/TA2435/ | ||
| 1045 | // TA2445 (temperature transmitter, inputs only). All nine order codes | ||
| 1046 | // share one IO-Link device profile (same Vendor/Device ID, identical | ||
| 1047 | // process data) and differ only mechanically (probe length, process | ||
| 1048 | // connection) -- see ifm-000179-20200114-IODD11-de.pdf, chapter 1. | ||
| 1049 | /****************************************************************************/ | ||
| 1050 | |||
| 1051 | ✗ | class IfmTATransmitter : public IoLinkDevice | |
| 1052 | { | ||
| 1053 | public: | ||
| 1054 | ✗ | IfmTATransmitter(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 1055 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 1056 | { | ||
| 1057 | ✗ | registerInputChannel("Temperature", temperature); | |
| 1058 | } | ||
| 1059 | |||
| 1060 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 1061 | { | ||
| 1062 | // ifm-000179-20200114-IODD11-de.pdf, chapter 2 | ||
| 1063 | // ("Kommunikation") and chapter 6.1 (process data). IO-Link | ||
| 1064 | // revision isn't spelt out as a field in this IODD, but the | ||
| 1065 | // "IO-Link 1.1 Systemtest" system commands imply V1.1 (the | ||
| 1066 | // default configurePort() assumes). | ||
| 1067 | ✗ | IoLinkPortIdentity identity; | |
| 1068 | ✗ | identity.vendorId = 310; | |
| 1069 | ✗ | identity.deviceId = 0x000179; | |
| 1070 | ✗ | identity.minCycleTimeMs = 2.3; | |
| 1071 | ✗ | identity.processDataInBits = 16; | |
| 1072 | ✗ | identity.sioSupported = false; | |
| 1073 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 1074 | } | ||
| 1075 | |||
| 1076 | ✗ | bool addInputs( | |
| 1077 | ec_slave_config_t *sc, | ||
| 1078 | uint16_t pdoIndex, | ||
| 1079 | uint16_t pdoEntryIndex, | ||
| 1080 | Domain *) override | ||
| 1081 | { | ||
| 1082 | /* ifm TA2xxx Inputs | ||
| 1083 | * {0x6000, 0x01, 16}, Temperature (INT) | ||
| 1084 | */ | ||
| 1085 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 1086 | ✗ | stringstream err; | |
| 1087 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 1088 | ✗ | throw runtime_error(err.str()); | |
| 1089 | } | ||
| 1090 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 1091 | ✗ | stringstream err; | |
| 1092 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 1093 | ✗ | throw runtime_error(err.str()); | |
| 1094 | } | ||
| 1095 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 1096 | ✗ | sc, pdoIndex, pdoEntryIndex, 0x01, 16)) { | |
| 1097 | ✗ | stringstream err; | |
| 1098 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 1099 | ✗ | throw runtime_error(err.str()); | |
| 1100 | } | ||
| 1101 | |||
| 1102 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 1103 | ✗ | return true; | |
| 1104 | } | ||
| 1105 | |||
| 1106 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 1107 | { | ||
| 1108 | ✗ | domainIn_ = domainIn; | |
| 1109 | ✗ | offTemp = ecrt_slave_config_reg_pdo_entry( | |
| 1110 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 1111 | ✗ | if (offTemp < 0) { | |
| 1112 | ✗ | stringstream err; | |
| 1113 | ✗ | err << "Failed to register IfmTATransmitter input PDO entry."; | |
| 1114 | ✗ | throw runtime_error(err.str()); | |
| 1115 | } | ||
| 1116 | } | ||
| 1117 | |||
| 1118 | ✗ | void updateInputs() override | |
| 1119 | { | ||
| 1120 | /* | ||
| 1121 | * ifm-000179-20200114-IODD11-de.pdf, chapter 6.1 | ||
| 1122 | * Temperatur: [degC] (-536 to 1574) * 0.1 | ||
| 1123 | */ | ||
| 1124 | ✗ | if (!domainIn_) { | |
| 1125 | ✗ | return; | |
| 1126 | } | ||
| 1127 | ✗ | int16_t raw = ntohs(EC_READ_S16(domainIn_->getData() + offTemp)); | |
| 1128 | ✗ | temperature = raw * 0.1f; | |
| 1129 | } | ||
| 1130 | ✗ | void updateOutputs() override {} | |
| 1131 | |||
| 1132 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 1133 | { | ||
| 1134 | ✗ | return inputKinds_; | |
| 1135 | } | ||
| 1136 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 1137 | { | ||
| 1138 | ✗ | return outputKinds_; | |
| 1139 | } | ||
| 1140 | |||
| 1141 | protected: | ||
| 1142 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 1143 | { | ||
| 1144 | ✗ | switch (i) { | |
| 1145 | ✗ | case 0: | |
| 1146 | ✗ | return temperature; | |
| 1147 | ✗ | default: | |
| 1148 | throw UnknownChannel( | ||
| 1149 | ✗ | "IfmTATransmitter: invalid channel index."); | |
| 1150 | } | ||
| 1151 | } | ||
| 1152 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 1153 | { | ||
| 1154 | ✗ | throw UnknownChannel("IfmTATransmitter has no output channels."); | |
| 1155 | } | ||
| 1156 | |||
| 1157 | private: | ||
| 1158 | int offTemp = -1; | ||
| 1159 | float temperature = 0.0f; // degC | ||
| 1160 | |||
| 1161 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 1162 | Domain *domainIn_ = nullptr; | ||
| 1163 | |||
| 1164 | std::vector<ChannelKind> inputKinds_ {{"Temperature", 1, float(0)}}; | ||
| 1165 | std::vector<ChannelKind> outputKinds_; | ||
| 1166 | }; | ||
| 1167 | |||
| 1168 | /****************************************************************************/ | ||
| 1169 | |||
| 1170 |
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13 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SU6020", IfmSU6020); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SU8020", IfmSU8020); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-PV8004", IfmPV8004); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-DV2131", IfmDV2131); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SM4000", IfmSM4000); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SM7000", IfmSM7000); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2105", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2115", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2135", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2145", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2345", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2405", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2415", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2435", IfmTATransmitter); |
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12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2445", IfmTATransmitter); |
| 1185 | |||
| 1186 | 36 | } // namespace EcApp | |
| 1187 | |||
| 1188 | /****************************************************************************/ | ||
| 1189 |