| Directory: | ./ |
|---|---|
| File: | src/devices/IfmIoLink.cpp |
| Date: | 2026-10-12 15:11:37 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 39 | 563 | 6.9% |
| Branches: | 84 | 906 | 9.3% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 <cstring> | ||
| 35 | #include <memory> | ||
| 36 | #include <sstream> | ||
| 37 | #include <stdexcept> | ||
| 38 | #include <string> | ||
| 39 | #include <vector> | ||
| 40 | |||
| 41 | using std::runtime_error; | ||
| 42 | using std::size_t; | ||
| 43 | using std::string; | ||
| 44 | using std::stringstream; | ||
| 45 | |||
| 46 | /****************************************************************************/ | ||
| 47 | |||
| 48 | namespace EcApp { | ||
| 49 | |||
| 50 | namespace { | ||
| 51 | |||
| 52 | /** L/h -> m^3/s. */ | ||
| 53 | constexpr float LitersPerHourToSI = 1.0f / 3.6e6f; | ||
| 54 | |||
| 55 | /** L/min -> m^3/s. */ | ||
| 56 | constexpr float LitersPerMinuteToSI = 1.0f / 6.0e4f; | ||
| 57 | |||
| 58 | /** bar -> Pa. */ | ||
| 59 | constexpr float BarToSI = 1e5f; | ||
| 60 | |||
| 61 | /* IO-Link process data is big-endian (MSB first), unlike EtherCAT's | ||
| 62 | * little-endian convention -- so EC_READ_U16()/EC_READ_U32() (which | ||
| 63 | * convert from little-endian) do not apply. ntohs()/ntohl() are not | ||
| 64 | * used either: they need an already loaded integer, and loading one | ||
| 65 | * directly from the domain would be an unaligned, aliasing-violating | ||
| 66 | * access. Assembling the value from single bytes avoids both and is | ||
| 67 | * independent of the host byte order. */ | ||
| 68 | |||
| 69 | ✗ | inline uint16_t readBeU16(const uint8_t *p) | |
| 70 | { | ||
| 71 | ✗ | return static_cast<uint16_t>((p[0] << 8) | p[1]); | |
| 72 | } | ||
| 73 | |||
| 74 | ✗ | inline uint32_t readBeU32(const uint8_t *p) | |
| 75 | { | ||
| 76 | ✗ | return (uint32_t(p[0]) << 24) | (uint32_t(p[1]) << 16) | |
| 77 | ✗ | | (uint32_t(p[2]) << 8) | uint32_t(p[3]); | |
| 78 | } | ||
| 79 | |||
| 80 | } // namespace | ||
| 81 | |||
| 82 | /****************************************************************************/ | ||
| 83 | // ifm SU6020/SU8020 (flow/temperature sensor, one digital output). | ||
| 84 | /****************************************************************************/ | ||
| 85 | |||
| 86 | 1 | class IfmSU : public IoLinkDevice | |
| 87 | { | ||
| 88 | public: | ||
| 89 | 1 | IfmSU(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 90 |
8/16✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 1 times.
✗ Branch 8 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 15 taken 1 times.
✗ Branch 16 not taken.
✓ Branch 19 taken 1 times.
✗ Branch 20 not taken.
✓ Branch 23 taken 1 times.
✗ Branch 24 not taken.
✓ Branch 26 taken 5 times.
✓ Branch 27 taken 1 times.
✗ Branch 36 not taken.
✗ Branch 37 not taken.
|
1 | IoLinkDevice(pdServ, task, prefix) |
| 91 | { | ||
| 92 |
2/4✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
1 | registerInputChannel("Flow", flow); |
| 93 |
2/4✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
1 | registerInputChannel("Temperature", temperature); |
| 94 |
2/4✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
1 | registerInputChannel("Out1", out1); |
| 95 |
2/4✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
1 | registerInputChannel("Out2", out2); |
| 96 |
2/4✓ Branch 2 taken 1 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1 times.
✗ Branch 6 not taken.
|
1 | registerInputChannel("State", state); |
| 97 | 1 | } | |
| 98 | |||
| 99 | ✗ | void updateOutputs() override | |
| 100 | { | ||
| 101 | ✗ | if (domainOut_ && domainOut_->getData()) { | |
| 102 | ✗ | EC_WRITE_BIT( | |
| 103 | domainOut_->getData() + offReset, bitOffReset, reset); | ||
| 104 | } | ||
| 105 | } | ||
| 106 | |||
| 107 | ✗ | bool addOutputs( | |
| 108 | ec_slave_config_t *sc, | ||
| 109 | uint16_t pdoIndex, | ||
| 110 | uint16_t pdoEntryIndex, | ||
| 111 | Domain *) override | ||
| 112 | { | ||
| 113 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 2, pdoIndex)) { | |
| 114 | ✗ | stringstream err; | |
| 115 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 116 | ✗ | throw runtime_error(err.str()); | |
| 117 | } | ||
| 118 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 119 | ✗ | stringstream err; | |
| 120 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 121 | ✗ | throw runtime_error(err.str()); | |
| 122 | } | ||
| 123 | ✗ | if (ecrt_slave_config_pdo_mapping_add(sc, pdoIndex, 0x0000, 0x00, 4) | |
| 124 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 125 | sc, pdoIndex, pdoEntryIndex, 0x01, 1) | ||
| 126 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 127 | sc, pdoIndex, pdoEntryIndex, 0x02, 1) | ||
| 128 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 129 | sc, pdoIndex, 0x0000, 0x00, 2) | ||
| 130 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 131 | sc, pdoIndex, 0x0000, 0x00, 8)) { | ||
| 132 | ✗ | stringstream err; | |
| 133 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 134 | ✗ | throw runtime_error(err.str()); | |
| 135 | } | ||
| 136 | |||
| 137 | /* ifm SU6020/SU8020 Outputs | ||
| 138 | * {0x0000, 0x00, 4}, Gap | ||
| 139 | * {0x7000, 0x01, 1}, Totalizer Reset and Inactive | ||
| 140 | * {0x7000, 0x02, 1}, Flow Override | ||
| 141 | * {0x0000, 0x00, 2}, Gap | ||
| 142 | * {0x0000, 0x00, 8}, Gap | ||
| 143 | */ | ||
| 144 | ✗ | outputPdoEntryIndex = pdoEntryIndex; | |
| 145 | ✗ | return true; | |
| 146 | } | ||
| 147 | |||
| 148 | ✗ | void registerOutputs(ec_slave_config_t *sc, Domain *domainOut) override | |
| 149 | { | ||
| 150 | ✗ | domainOut_ = domainOut; | |
| 151 | ✗ | offReset = ecrt_slave_config_reg_pdo_entry( | |
| 152 | ✗ | sc, outputPdoEntryIndex, 0x01, domainOut->getDomain(), | |
| 153 | &bitOffReset); | ||
| 154 | ✗ | if (offReset < 0) { | |
| 155 | ✗ | stringstream err; | |
| 156 | ✗ | err << "Failed to register output PDO entry " | |
| 157 | ✗ | << outputPdoEntryIndex << " 0x01."; | |
| 158 | ✗ | throw runtime_error(err.str()); | |
| 159 | } | ||
| 160 | } | ||
| 161 | |||
| 162 | ✗ | bool addInputs( | |
| 163 | ec_slave_config_t *sc, | ||
| 164 | uint16_t pdoIndex, | ||
| 165 | uint16_t pdoEntryIndex, | ||
| 166 | Domain *) override | ||
| 167 | { | ||
| 168 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 169 | ✗ | stringstream err; | |
| 170 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 171 | ✗ | throw runtime_error(err.str()); | |
| 172 | } | ||
| 173 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 174 | ✗ | stringstream err; | |
| 175 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 176 | ✗ | throw runtime_error(err.str()); | |
| 177 | } | ||
| 178 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 179 | sc, pdoIndex, pdoEntryIndex, 0x01, 32) | ||
| 180 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 181 | sc, pdoIndex, pdoEntryIndex, 0x02, 32) | ||
| 182 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 183 | sc, pdoIndex, 0x0000, 0x00, 16) | ||
| 184 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 185 | sc, pdoIndex, pdoEntryIndex, 0x03, 32) | ||
| 186 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 187 | sc, pdoIndex, 0x0000, 0x00, 8) | ||
| 188 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 189 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) | ||
| 190 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 191 | sc, pdoIndex, pdoEntryIndex, 0x05, 1) | ||
| 192 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 193 | sc, pdoIndex, 0x0000, 0x00, 2) | ||
| 194 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 195 | sc, pdoIndex, pdoEntryIndex, 0x06, 4)) { | ||
| 196 | ✗ | stringstream err; | |
| 197 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 198 | ✗ | throw runtime_error(err.str()); | |
| 199 | } | ||
| 200 | |||
| 201 | /* ifm SU6020/SU8020 Inputs | ||
| 202 | * {0x6000, 0x01, 32}, Totalizer (REAL) | ||
| 203 | * {0x6000, 0x02, 32}, Flow (DINT) | ||
| 204 | * {0x0000, 0x00, 16}, Gap | ||
| 205 | * {0x6000, 0x03, 32}, Temperature (DINT) | ||
| 206 | * {0x0000, 0x00, 8}, Gap | ||
| 207 | * {0x6000, 0x04, 1}, OUT1 | ||
| 208 | * {0x6000, 0x05, 1}, OUT2 | ||
| 209 | * {0x0000, 0x00, 2}, Gap | ||
| 210 | * {0x6000, 0x06, 4}, Device Status | ||
| 211 | */ | ||
| 212 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 213 | ✗ | return true; | |
| 214 | } | ||
| 215 | |||
| 216 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 217 | { | ||
| 218 | ✗ | domainIn_ = domainIn; | |
| 219 | ✗ | offFlow = ecrt_slave_config_reg_pdo_entry( | |
| 220 | ✗ | sc, inputPdoEntryIndex, 0x02, domainIn->getDomain(), NULL); | |
| 221 | ✗ | offTemp = ecrt_slave_config_reg_pdo_entry( | |
| 222 | ✗ | sc, inputPdoEntryIndex, 0x03, domainIn->getDomain(), NULL); | |
| 223 | ✗ | offDig = ecrt_slave_config_reg_pdo_entry( | |
| 224 | ✗ | sc, inputPdoEntryIndex, 0x04, domainIn->getDomain(), NULL); | |
| 225 | ✗ | if (offFlow < 0 || offTemp < 0 || offDig < 0) { | |
| 226 | ✗ | stringstream err; | |
| 227 | ✗ | err << "Failed to register IfmSU input PDO entry."; | |
| 228 | ✗ | throw runtime_error(err.str()); | |
| 229 | } | ||
| 230 | } | ||
| 231 | |||
| 232 | 5 | const std::vector<ChannelKind> &inputKinds() const override | |
| 233 | { | ||
| 234 | 5 | return inputKinds_; | |
| 235 | } | ||
| 236 | 1 | const std::vector<ChannelKind> &outputKinds() const override | |
| 237 | { | ||
| 238 | 1 | return outputKinds_; | |
| 239 | } | ||
| 240 | |||
| 241 | protected: | ||
| 242 | 2 | ChannelValue getInputAt(size_t i) const override | |
| 243 | { | ||
| 244 |
1/6✓ Branch 0 taken 2 times.
✗ Branch 1 not taken.
✗ Branch 2 not taken.
✗ Branch 3 not taken.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
|
2 | switch (i) { |
| 245 | 2 | case 0: | |
| 246 | 2 | return flow; | |
| 247 | ✗ | case 1: | |
| 248 | ✗ | return temperature; | |
| 249 | ✗ | case 2: | |
| 250 | ✗ | return out1; | |
| 251 | ✗ | case 3: | |
| 252 | ✗ | return out2; | |
| 253 | ✗ | case 4: | |
| 254 | ✗ | return uint16_t(state); | |
| 255 | ✗ | default: | |
| 256 | ✗ | throw UnknownChannel("IfmSU: invalid channel index."); | |
| 257 | } | ||
| 258 | } | ||
| 259 | |||
| 260 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 261 | { | ||
| 262 | throw UnknownChannel( | ||
| 263 | ✗ | "IfmSU has no generically exposed output channels."); | |
| 264 | } | ||
| 265 | |||
| 266 | int offReset = -1; | ||
| 267 | unsigned int bitOffReset = 0; | ||
| 268 | bool reset = false; // never driven -- ported as-is from bda, | ||
| 269 | // which never exposed a way to set it either | ||
| 270 | |||
| 271 | int offFlow = -1; | ||
| 272 | float flow = 0.0f; // m^3/s | ||
| 273 | int offTemp = -1; | ||
| 274 | float temperature = 0.0f; // degC | ||
| 275 | int offDig = -1; | ||
| 276 | bool out1 = false; | ||
| 277 | bool out2 = false; | ||
| 278 | uint8_t state = 0; | ||
| 279 | |||
| 280 | protected: | ||
| 281 | Domain *domainOut_ = nullptr; | ||
| 282 | Domain *domainIn_ = nullptr; | ||
| 283 | |||
| 284 | private: | ||
| 285 | uint16_t outputPdoEntryIndex = 0x0000; | ||
| 286 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 287 | |||
| 288 | std::vector<ChannelKind> inputKinds_ { | ||
| 289 | {"Flow", 1, float(0)}, | ||
| 290 | {"Temperature", 1, float(0)}, | ||
| 291 | {"Out1", 1, false}, | ||
| 292 | {"Out2", 1, false}, | ||
| 293 | {"State", 1, uint16_t(0)}}; | ||
| 294 | std::vector<ChannelKind> outputKinds_; | ||
| 295 | }; | ||
| 296 | |||
| 297 | /****************************************************************************/ | ||
| 298 | |||
| 299 | 2 | class IfmSU6020 : public IfmSU | |
| 300 | { | ||
| 301 | public: | ||
| 302 | 1 | using IfmSU::IfmSU; | |
| 303 | |||
| 304 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 305 | { | ||
| 306 | // ifm-0005B3-20231003-IODD11-de.pdf, chapter "Kommunikation" | ||
| 307 | ✗ | IoLinkPortIdentity identity; | |
| 308 | ✗ | identity.vendorId = 310; | |
| 309 | ✗ | identity.deviceId = 0x0005B3; | |
| 310 | ✗ | identity.minCycleTimeMs = 9.6; | |
| 311 | ✗ | identity.processDataInBits = 128; | |
| 312 | ✗ | identity.processDataOutBits = 8; | |
| 313 | ✗ | identity.sioSupported = true; | |
| 314 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 315 | } | ||
| 316 | |||
| 317 | 1 | void updateInputs() override | |
| 318 | { | ||
| 319 | /* | ||
| 320 | * ifm-0005B3-20231003-IODD11-de.pdf | ||
| 321 | * Stroemung: [L/h] = MeasurementValue * 0.1 | ||
| 322 | * Temperatur: [degC] (-4400 to 12400) * 0.01 | ||
| 323 | * Status: 0 OK, 1 Wartung, 2 ausserhalb Spec, 3 Test, 4 Ausfall | ||
| 324 | */ | ||
| 325 |
1/2✓ Branch 0 taken 1 times.
✗ Branch 1 not taken.
|
1 | if (!domainIn_) { |
| 326 | 1 | return; | |
| 327 | } | ||
| 328 | ✗ | int32_t raw = int32_t(readBeU32(domainIn_->getData() + offFlow)); | |
| 329 | ✗ | flow = raw * 0.1f * LitersPerHourToSI; | |
| 330 | ✗ | raw = int32_t(readBeU32(domainIn_->getData() + offTemp)); | |
| 331 | ✗ | temperature = raw * 1e-2f; | |
| 332 | ✗ | uint8_t byte = EC_READ_U8(domainIn_->getData() + offDig); | |
| 333 | ✗ | out1 = (byte & 0x01) != 0x00; | |
| 334 | ✗ | out2 = (byte & 0x02) != 0x00; | |
| 335 | ✗ | state = (byte >> 4); | |
| 336 | } | ||
| 337 | }; | ||
| 338 | |||
| 339 | /****************************************************************************/ | ||
| 340 | |||
| 341 | ✗ | class IfmSU8020 : public IfmSU | |
| 342 | { | ||
| 343 | public: | ||
| 344 | ✗ | using IfmSU::IfmSU; | |
| 345 | |||
| 346 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 347 | { | ||
| 348 | // ifm-0005B4-20231020-IODD11-de.pdf, chapter "Kommunikation" | ||
| 349 | ✗ | IoLinkPortIdentity identity; | |
| 350 | ✗ | identity.vendorId = 310; | |
| 351 | ✗ | identity.deviceId = 0x0005B4; | |
| 352 | ✗ | identity.minCycleTimeMs = 9.6; | |
| 353 | ✗ | identity.processDataInBits = 128; | |
| 354 | ✗ | identity.processDataOutBits = 8; | |
| 355 | ✗ | identity.sioSupported = true; | |
| 356 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 357 | } | ||
| 358 | |||
| 359 | ✗ | void updateInputs() override | |
| 360 | { | ||
| 361 | /* | ||
| 362 | * ifm-0005B4-20231020-IODD11-de.pdf | ||
| 363 | * Stroemung: [L/h] = MeasurementValue | ||
| 364 | * Temperatur: [degC] (-4400 to 12400) * 0.01 | ||
| 365 | */ | ||
| 366 | ✗ | if (!domainIn_) { | |
| 367 | ✗ | return; | |
| 368 | } | ||
| 369 | ✗ | int32_t raw = int32_t(readBeU32(domainIn_->getData() + offFlow)); | |
| 370 | ✗ | flow = raw * LitersPerHourToSI; | |
| 371 | ✗ | raw = int32_t(readBeU32(domainIn_->getData() + offTemp)); | |
| 372 | ✗ | temperature = raw * 1e-2f; | |
| 373 | ✗ | uint8_t byte = EC_READ_U8(domainIn_->getData() + offDig); | |
| 374 | ✗ | out1 = (byte & 0x01) != 0x00; | |
| 375 | ✗ | out2 = (byte & 0x02) != 0x00; | |
| 376 | ✗ | state = (byte >> 4); | |
| 377 | } | ||
| 378 | }; | ||
| 379 | |||
| 380 | /****************************************************************************/ | ||
| 381 | // ifm PV8004 (pressure/temperature sensor, no outputs). | ||
| 382 | /****************************************************************************/ | ||
| 383 | |||
| 384 | ✗ | class IfmPV8004 : public IoLinkDevice | |
| 385 | { | ||
| 386 | public: | ||
| 387 | ✗ | IfmPV8004(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 388 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 389 | { | ||
| 390 | ✗ | registerInputChannel("Pressure", pressure); | |
| 391 | ✗ | registerInputChannel("Temperature", temperature); | |
| 392 | ✗ | registerInputChannel("Out1", out1); | |
| 393 | ✗ | registerInputChannel("Out2", out2); | |
| 394 | ✗ | registerInputChannel("State", state); | |
| 395 | } | ||
| 396 | |||
| 397 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 398 | { | ||
| 399 | // ifm-0004BA-20200507-IODD11-de.pdf, chapter "Kommunikation" | ||
| 400 | ✗ | IoLinkPortIdentity identity; | |
| 401 | ✗ | identity.vendorId = 310; | |
| 402 | ✗ | identity.deviceId = 0x0004BA; | |
| 403 | ✗ | identity.minCycleTimeMs = 4.5; | |
| 404 | ✗ | identity.processDataInBits = 64; | |
| 405 | ✗ | identity.sioSupported = true; | |
| 406 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 407 | } | ||
| 408 | |||
| 409 | ✗ | bool addInputs( | |
| 410 | ec_slave_config_t *sc, | ||
| 411 | uint16_t pdoIndex, | ||
| 412 | uint16_t pdoEntryIndex, | ||
| 413 | Domain *) override | ||
| 414 | { | ||
| 415 | /* ifm PV8004 Inputs | ||
| 416 | * {0x6000, 0x01, 16}, Pressure (INT) | ||
| 417 | * {0x0000, 0x00, 16}, Gap | ||
| 418 | * {0x6000, 0x02, 16}, Temperature (INT) | ||
| 419 | * {0x0000, 0x00, 8}, Gap | ||
| 420 | * {0x6000, 0x03, 1}, OUT1 | ||
| 421 | * {0x6000, 0x04, 1}, OUT2 | ||
| 422 | * {0x0000, 0x00, 2}, Gap | ||
| 423 | * {0x6000, 0x05, 4}, Device Status | ||
| 424 | */ | ||
| 425 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 426 | ✗ | stringstream err; | |
| 427 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 428 | ✗ | throw runtime_error(err.str()); | |
| 429 | } | ||
| 430 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 431 | ✗ | stringstream err; | |
| 432 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 433 | ✗ | throw runtime_error(err.str()); | |
| 434 | } | ||
| 435 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 436 | sc, pdoIndex, pdoEntryIndex, 0x01, 16) | ||
| 437 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 438 | sc, pdoIndex, 0x0000, 0x00, 16) | ||
| 439 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 440 | sc, pdoIndex, pdoEntryIndex, 0x02, 16) | ||
| 441 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 442 | sc, pdoIndex, 0x0000, 0x00, 8) | ||
| 443 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 444 | sc, pdoIndex, pdoEntryIndex, 0x03, 1) | ||
| 445 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 446 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) | ||
| 447 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 448 | sc, pdoIndex, 0x0000, 0x00, 2) | ||
| 449 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 450 | sc, pdoIndex, pdoEntryIndex, 0x05, 4)) { | ||
| 451 | ✗ | stringstream err; | |
| 452 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 453 | ✗ | throw runtime_error(err.str()); | |
| 454 | } | ||
| 455 | |||
| 456 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 457 | ✗ | return true; | |
| 458 | } | ||
| 459 | |||
| 460 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 461 | { | ||
| 462 | ✗ | domainIn_ = domainIn; | |
| 463 | ✗ | offPressure = ecrt_slave_config_reg_pdo_entry( | |
| 464 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 465 | ✗ | offTemp = ecrt_slave_config_reg_pdo_entry( | |
| 466 | ✗ | sc, inputPdoEntryIndex, 0x02, domainIn->getDomain(), NULL); | |
| 467 | ✗ | offDig = ecrt_slave_config_reg_pdo_entry( | |
| 468 | ✗ | sc, inputPdoEntryIndex, 0x03, domainIn->getDomain(), NULL); | |
| 469 | ✗ | if (offPressure < 0 || offTemp < 0 || offDig < 0) { | |
| 470 | ✗ | stringstream err; | |
| 471 | ✗ | err << "Failed to register IfmPV8004 input PDO entry."; | |
| 472 | ✗ | throw runtime_error(err.str()); | |
| 473 | } | ||
| 474 | } | ||
| 475 | |||
| 476 | ✗ | void updateInputs() override | |
| 477 | { | ||
| 478 | /* | ||
| 479 | * ifm-0004BA-20200507-IODD11-de.pdf | ||
| 480 | * Druck: [bar] (-1000 to 10500) * 0.001 | ||
| 481 | * Temperatur: [degC] (-4500 to 9500) * 0.01 | ||
| 482 | */ | ||
| 483 | ✗ | if (!domainIn_) { | |
| 484 | ✗ | return; | |
| 485 | } | ||
| 486 | ✗ | int16_t raw = int16_t(readBeU16(domainIn_->getData() + offPressure)); | |
| 487 | ✗ | pressure = raw * 1e-3f * BarToSI; | |
| 488 | ✗ | raw = int16_t(readBeU16(domainIn_->getData() + offTemp)); | |
| 489 | ✗ | temperature = raw * 1e-2f; | |
| 490 | ✗ | uint8_t byte = EC_READ_U8(domainIn_->getData() + offDig); | |
| 491 | ✗ | out1 = (byte & 0x01) != 0x00; | |
| 492 | ✗ | out2 = (byte & 0x02) != 0x00; | |
| 493 | ✗ | state = (byte >> 4); | |
| 494 | } | ||
| 495 | ✗ | void updateOutputs() override {} | |
| 496 | |||
| 497 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 498 | { | ||
| 499 | ✗ | return inputKinds_; | |
| 500 | } | ||
| 501 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 502 | { | ||
| 503 | ✗ | return outputKinds_; | |
| 504 | } | ||
| 505 | |||
| 506 | protected: | ||
| 507 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 508 | { | ||
| 509 | ✗ | switch (i) { | |
| 510 | ✗ | case 0: | |
| 511 | ✗ | return pressure; | |
| 512 | ✗ | case 1: | |
| 513 | ✗ | return temperature; | |
| 514 | ✗ | case 2: | |
| 515 | ✗ | return out1; | |
| 516 | ✗ | case 3: | |
| 517 | ✗ | return out2; | |
| 518 | ✗ | case 4: | |
| 519 | ✗ | return uint16_t(state); | |
| 520 | ✗ | default: | |
| 521 | ✗ | throw UnknownChannel("IfmPV8004: invalid channel index."); | |
| 522 | } | ||
| 523 | } | ||
| 524 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 525 | { | ||
| 526 | ✗ | throw UnknownChannel("IfmPV8004 has no output channels."); | |
| 527 | } | ||
| 528 | |||
| 529 | private: | ||
| 530 | int offPressure = -1; | ||
| 531 | float pressure = 0.0f; // Pa | ||
| 532 | int offTemp = -1; | ||
| 533 | float temperature = 0.0f; // degC | ||
| 534 | int offDig = -1; | ||
| 535 | bool out1 = false; | ||
| 536 | bool out2 = false; | ||
| 537 | uint8_t state = 0; | ||
| 538 | |||
| 539 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 540 | Domain *domainIn_ = nullptr; | ||
| 541 | |||
| 542 | std::vector<ChannelKind> inputKinds_ { | ||
| 543 | {"Pressure", 1, float(0)}, | ||
| 544 | {"Temperature", 1, float(0)}, | ||
| 545 | {"Out1", 1, false}, | ||
| 546 | {"Out2", 1, false}, | ||
| 547 | {"State", 1, uint16_t(0)}}; | ||
| 548 | std::vector<ChannelKind> outputKinds_; | ||
| 549 | }; | ||
| 550 | |||
| 551 | /****************************************************************************/ | ||
| 552 | // ifm DV2131 (buzzer + LED outputs, feedback + status inputs). | ||
| 553 | /****************************************************************************/ | ||
| 554 | |||
| 555 | ✗ | class IfmDV2131 : public IoLinkDevice | |
| 556 | { | ||
| 557 | public: | ||
| 558 | ✗ | IfmDV2131(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 559 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 560 | { | ||
| 561 | ✗ | registerInputChannel("Feedback", feedback); | |
| 562 | ✗ | registerInputChannel("Status", status); | |
| 563 | ✗ | registerOutputChannel("EnableBuzzer", enableBuzzer); | |
| 564 | ✗ | registerOutputChannel("BuzzerStyle", buzzerStyle); | |
| 565 | ✗ | registerOutputChannel("LedStates", ledStates); | |
| 566 | } | ||
| 567 | |||
| 568 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 569 | { | ||
| 570 | ✗ | IoLinkPortIdentity identity; | |
| 571 | ✗ | identity.vendorId = 310; | |
| 572 | ✗ | identity.deviceId = 0x000498; | |
| 573 | ✗ | identity.minCycleTimeMs = 8.0; | |
| 574 | ✗ | identity.processDataInBits = 16; | |
| 575 | ✗ | identity.processDataOutBits = 16; | |
| 576 | ✗ | identity.sioSupported = true; | |
| 577 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 578 | } | ||
| 579 | |||
| 580 | ✗ | bool addOutputs( | |
| 581 | ec_slave_config_t *sc, | ||
| 582 | uint16_t pdoIndex, | ||
| 583 | uint16_t pdoEntryIndex, | ||
| 584 | Domain *) override | ||
| 585 | { | ||
| 586 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 2, pdoIndex)) { | |
| 587 | ✗ | stringstream err; | |
| 588 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 589 | ✗ | throw runtime_error(err.str()); | |
| 590 | } | ||
| 591 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 592 | ✗ | stringstream err; | |
| 593 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 594 | ✗ | throw runtime_error(err.str()); | |
| 595 | } | ||
| 596 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 597 | sc, pdoIndex, pdoEntryIndex, 0x01, 1) // buzzer | ||
| 598 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 599 | sc, pdoIndex, 0x0000, 0x00, 3) | ||
| 600 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 601 | sc, pdoIndex, pdoEntryIndex, 0x02, 3) // style | ||
| 602 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 603 | sc, pdoIndex, 0x0000, 0x00, 1) | ||
| 604 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 605 | sc, pdoIndex, pdoEntryIndex, 0x03, 1) // led-a | ||
| 606 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 607 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) // led-b | ||
| 608 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 609 | sc, pdoIndex, pdoEntryIndex, 0x05, 1) // led-c | ||
| 610 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 611 | sc, pdoIndex, 0x0000, 0x00, 5)) { | ||
| 612 | ✗ | stringstream err; | |
| 613 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 614 | ✗ | throw runtime_error(err.str()); | |
| 615 | } | ||
| 616 | |||
| 617 | ✗ | outputPdoEntryIndex = pdoEntryIndex; | |
| 618 | ✗ | return true; | |
| 619 | } | ||
| 620 | |||
| 621 | ✗ | bool addInputs( | |
| 622 | ec_slave_config_t *sc, | ||
| 623 | uint16_t pdoIndex, | ||
| 624 | uint16_t pdoEntryIndex, | ||
| 625 | Domain *) override | ||
| 626 | { | ||
| 627 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 628 | ✗ | stringstream err; | |
| 629 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 630 | ✗ | throw runtime_error(err.str()); | |
| 631 | } | ||
| 632 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 633 | ✗ | stringstream err; | |
| 634 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 635 | ✗ | throw runtime_error(err.str()); | |
| 636 | } | ||
| 637 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 638 | sc, pdoIndex, pdoEntryIndex, 0x01, 1) // feedback | ||
| 639 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 640 | sc, pdoIndex, 0x0000, 0x00, 7) | ||
| 641 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 642 | sc, pdoIndex, pdoEntryIndex, 0x02, 1) // status1 | ||
| 643 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 644 | sc, pdoIndex, pdoEntryIndex, 0x03, 1) // status2 | ||
| 645 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 646 | sc, pdoIndex, pdoEntryIndex, 0x04, 1) // status3 | ||
| 647 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 648 | sc, pdoIndex, pdoEntryIndex, 0x05, 1) // status4 | ||
| 649 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 650 | sc, pdoIndex, pdoEntryIndex, 0x06, 1) // status5 | ||
| 651 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 652 | sc, pdoIndex, pdoEntryIndex, 0x07, 1) // status6 | ||
| 653 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 654 | sc, pdoIndex, pdoEntryIndex, 0x08, 1) // status7 | ||
| 655 | ✗ | || ecrt_slave_config_pdo_mapping_add( | |
| 656 | sc, pdoIndex, pdoEntryIndex, 0x09, 1)) { // st.8 | ||
| 657 | ✗ | stringstream err; | |
| 658 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 659 | ✗ | throw runtime_error(err.str()); | |
| 660 | } | ||
| 661 | |||
| 662 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 663 | ✗ | return true; | |
| 664 | } | ||
| 665 | |||
| 666 | ✗ | void registerOutputs(ec_slave_config_t *sc, Domain *domainOut) override | |
| 667 | { | ||
| 668 | ✗ | domainOut_ = domainOut; | |
| 669 | ✗ | offBuzzer = ecrt_slave_config_reg_pdo_entry( | |
| 670 | ✗ | sc, outputPdoEntryIndex, 0x01, domainOut->getDomain(), NULL); | |
| 671 | ✗ | offLed = ecrt_slave_config_reg_pdo_entry( | |
| 672 | ✗ | sc, outputPdoEntryIndex, 0x03, domainOut->getDomain(), NULL); | |
| 673 | ✗ | if (offBuzzer < 0 || offLed < 0) { | |
| 674 | ✗ | stringstream err; | |
| 675 | ✗ | err << "Failed to register IfmDV2131 output PDO entry."; | |
| 676 | ✗ | throw runtime_error(err.str()); | |
| 677 | } | ||
| 678 | } | ||
| 679 | |||
| 680 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 681 | { | ||
| 682 | ✗ | domainIn_ = domainIn; | |
| 683 | ✗ | offFeedback = ecrt_slave_config_reg_pdo_entry( | |
| 684 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 685 | ✗ | offStatus = ecrt_slave_config_reg_pdo_entry( | |
| 686 | ✗ | sc, inputPdoEntryIndex, 0x02, domainIn->getDomain(), NULL); | |
| 687 | ✗ | if (offFeedback < 0 || offStatus < 0) { | |
| 688 | ✗ | stringstream err; | |
| 689 | ✗ | err << "Failed to register IfmDV2131 input PDO entry."; | |
| 690 | ✗ | throw runtime_error(err.str()); | |
| 691 | } | ||
| 692 | } | ||
| 693 | |||
| 694 | ✗ | void updateInputs() override | |
| 695 | { | ||
| 696 | ✗ | if (!domainIn_ || !domainIn_->getData()) { | |
| 697 | ✗ | return; | |
| 698 | } | ||
| 699 | ✗ | feedback = EC_READ_U8(domainIn_->getData() + offFeedback) & 0x01; | |
| 700 | ✗ | status = EC_READ_U8(domainIn_->getData() + offStatus); | |
| 701 | } | ||
| 702 | |||
| 703 | ✗ | void updateOutputs() override | |
| 704 | { | ||
| 705 | ✗ | if (!domainOut_ || !domainOut_->getData()) { | |
| 706 | ✗ | return; | |
| 707 | } | ||
| 708 | ✗ | EC_WRITE_U8( | |
| 709 | domainOut_->getData() + offBuzzer, | ||
| 710 | enableBuzzer | (buzzerStyle << 4)); | ||
| 711 | ✗ | EC_WRITE_U8(domainOut_->getData() + offLed, ledStates); | |
| 712 | } | ||
| 713 | |||
| 714 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 715 | { | ||
| 716 | ✗ | return inputKinds_; | |
| 717 | } | ||
| 718 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 719 | { | ||
| 720 | ✗ | return outputKinds_; | |
| 721 | } | ||
| 722 | |||
| 723 | protected: | ||
| 724 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 725 | { | ||
| 726 | ✗ | switch (i) { | |
| 727 | ✗ | case 0: | |
| 728 | ✗ | return uint16_t(feedback); | |
| 729 | ✗ | case 1: | |
| 730 | ✗ | return uint16_t(status); | |
| 731 | ✗ | default: | |
| 732 | ✗ | throw UnknownChannel("IfmDV2131: invalid channel index."); | |
| 733 | } | ||
| 734 | } | ||
| 735 | ✗ | void setOutputAt(size_t i, const ChannelValue &value) override | |
| 736 | { | ||
| 737 | ✗ | switch (i) { | |
| 738 | ✗ | case 0: | |
| 739 | ✗ | enableBuzzer = std::get<uint16_t>(value) ? 1 : 0; | |
| 740 | ✗ | return; | |
| 741 | ✗ | case 1: | |
| 742 | ✗ | buzzerStyle = static_cast<uint8_t>(std::get<uint16_t>(value)); | |
| 743 | ✗ | return; | |
| 744 | ✗ | case 2: | |
| 745 | ✗ | ledStates = static_cast<uint8_t>(std::get<uint16_t>(value)); | |
| 746 | ✗ | return; | |
| 747 | ✗ | default: | |
| 748 | ✗ | throw UnknownChannel("IfmDV2131: invalid channel index."); | |
| 749 | } | ||
| 750 | } | ||
| 751 | |||
| 752 | private: | ||
| 753 | int offBuzzer = -1; | ||
| 754 | uint8_t enableBuzzer = 0; | ||
| 755 | uint8_t buzzerStyle = 0; | ||
| 756 | |||
| 757 | int offLed = -1; | ||
| 758 | uint8_t ledStates = 0; | ||
| 759 | |||
| 760 | int offFeedback = -1; | ||
| 761 | uint8_t feedback = 0; | ||
| 762 | |||
| 763 | int offStatus = -1; | ||
| 764 | uint8_t status = 0; | ||
| 765 | |||
| 766 | uint16_t outputPdoEntryIndex = 0x0000; | ||
| 767 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 768 | Domain *domainOut_ = nullptr; | ||
| 769 | Domain *domainIn_ = nullptr; | ||
| 770 | |||
| 771 | std::vector<ChannelKind> inputKinds_ { | ||
| 772 | {"Feedback", 1, uint16_t(0)}, | ||
| 773 | {"Status", 1, uint16_t(0)}}; | ||
| 774 | std::vector<ChannelKind> outputKinds_ { | ||
| 775 | {"EnableBuzzer", 1, uint16_t(0)}, | ||
| 776 | {"BuzzerStyle", 1, uint16_t(0)}, | ||
| 777 | {"LedStates", 1, uint16_t(0)}}; | ||
| 778 | }; | ||
| 779 | |||
| 780 | /****************************************************************************/ | ||
| 781 | // ifm SM4000 (flow/temperature sensor, inputs only, single combined | ||
| 782 | // 64-bit process value -- no digital outputs, no device-status byte). | ||
| 783 | /****************************************************************************/ | ||
| 784 | |||
| 785 | ✗ | class IfmSM4000 : public IoLinkDevice | |
| 786 | { | ||
| 787 | public: | ||
| 788 | ✗ | IfmSM4000(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 789 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 790 | { | ||
| 791 | ✗ | registerInputChannel("Flow", flow); | |
| 792 | ✗ | registerInputChannel("Temperature", temperature); | |
| 793 | } | ||
| 794 | |||
| 795 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 796 | { | ||
| 797 | // ifm-SM4000-20170209-IODD11-de.pdf, chapter "Kommunikation" | ||
| 798 | ✗ | IoLinkPortIdentity identity; | |
| 799 | ✗ | identity.vendorId = 310; | |
| 800 | ✗ | identity.deviceId = 0x00029F; | |
| 801 | ✗ | identity.minCycleTimeMs = 5.0; | |
| 802 | ✗ | identity.processDataInBits = 64; | |
| 803 | ✗ | identity.sioSupported = true; | |
| 804 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 805 | } | ||
| 806 | |||
| 807 | ✗ | bool addInputs( | |
| 808 | ec_slave_config_t *sc, | ||
| 809 | uint16_t pdoIndex, | ||
| 810 | uint16_t pdoEntryIndex, | ||
| 811 | Domain *) override | ||
| 812 | { | ||
| 813 | /* | ||
| 814 | * IO-Link Port1: process data, ARRAY [0..7] OF USINT (64 bit) | ||
| 815 | */ | ||
| 816 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 817 | ✗ | stringstream err; | |
| 818 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 819 | ✗ | throw runtime_error(err.str()); | |
| 820 | } | ||
| 821 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 822 | ✗ | stringstream err; | |
| 823 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 824 | ✗ | throw runtime_error(err.str()); | |
| 825 | } | ||
| 826 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 827 | ✗ | sc, pdoIndex, pdoEntryIndex, 0x01, 64)) { | |
| 828 | ✗ | stringstream err; | |
| 829 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 830 | ✗ | throw runtime_error(err.str()); | |
| 831 | } | ||
| 832 | |||
| 833 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 834 | ✗ | return true; | |
| 835 | } | ||
| 836 | |||
| 837 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 838 | { | ||
| 839 | ✗ | domainIn_ = domainIn; | |
| 840 | ✗ | offIn = ecrt_slave_config_reg_pdo_entry( | |
| 841 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 842 | ✗ | if (offIn < 0) { | |
| 843 | ✗ | stringstream err; | |
| 844 | ✗ | err << "Failed to register IfmSM4000 input PDO entry."; | |
| 845 | ✗ | throw runtime_error(err.str()); | |
| 846 | } | ||
| 847 | } | ||
| 848 | |||
| 849 | ✗ | void updateInputs() override | |
| 850 | { | ||
| 851 | /* | ||
| 852 | * ifm-SM4000-20170209-IODD11-de.pdf | ||
| 853 | * Durchfluss: [L/min] (-1999 to 3600) * 0.001 | ||
| 854 | * Temperatur: 14 bit (LSB sind OUT1 und OUT2), * 0.1 degC | ||
| 855 | */ | ||
| 856 | ✗ | if (!domainIn_) { | |
| 857 | ✗ | return; | |
| 858 | } | ||
| 859 | ✗ | int16_t raw = int16_t(readBeU16(domainIn_->getData() + offIn + 4)); | |
| 860 | ✗ | flow = raw * 0.06f * LitersPerHourToSI; | |
| 861 | ✗ | uint16_t uraw = readBeU16(domainIn_->getData() + offIn + 6); | |
| 862 | // arithmetic shift on the *signed* word sign-extends the 14-bit | ||
| 863 | // temperature field correctly; OUT1/OUT2 are its two LSBs. | ||
| 864 | ✗ | temperature = (static_cast<int16_t>(uraw) >> 2) * 0.1f; | |
| 865 | } | ||
| 866 | ✗ | void updateOutputs() override {} | |
| 867 | |||
| 868 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 869 | { | ||
| 870 | ✗ | return inputKinds_; | |
| 871 | } | ||
| 872 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 873 | { | ||
| 874 | ✗ | return outputKinds_; | |
| 875 | } | ||
| 876 | |||
| 877 | protected: | ||
| 878 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 879 | { | ||
| 880 | ✗ | switch (i) { | |
| 881 | ✗ | case 0: | |
| 882 | ✗ | return flow; | |
| 883 | ✗ | case 1: | |
| 884 | ✗ | return temperature; | |
| 885 | ✗ | default: | |
| 886 | ✗ | throw UnknownChannel("IfmSM4000: invalid channel index."); | |
| 887 | } | ||
| 888 | } | ||
| 889 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 890 | { | ||
| 891 | ✗ | throw UnknownChannel("IfmSM4000 has no output channels."); | |
| 892 | } | ||
| 893 | |||
| 894 | private: | ||
| 895 | int offIn = -1; | ||
| 896 | float flow = 0.0f; // m^3/s | ||
| 897 | float temperature = 0.0f; // degC | ||
| 898 | |||
| 899 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 900 | Domain *domainIn_ = nullptr; | ||
| 901 | |||
| 902 | std::vector<ChannelKind> inputKinds_ { | ||
| 903 | {"Flow", 1, float(0)}, | ||
| 904 | {"Temperature", 1, float(0)}}; | ||
| 905 | std::vector<ChannelKind> outputKinds_; | ||
| 906 | }; | ||
| 907 | |||
| 908 | /****************************************************************************/ | ||
| 909 | // ifm SM7000 (flow/temperature sensor with totalizer, inputs only -- | ||
| 910 | // same wire layout as SM4000 plus a leading 32-bit float totalizer). | ||
| 911 | /****************************************************************************/ | ||
| 912 | |||
| 913 | ✗ | class IfmSM7000 : public IoLinkDevice | |
| 914 | { | ||
| 915 | public: | ||
| 916 | ✗ | IfmSM7000(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 917 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 918 | { | ||
| 919 | ✗ | registerInputChannel("Totalizer", totalizer); | |
| 920 | ✗ | registerInputChannel("Flow", flow); | |
| 921 | ✗ | registerInputChannel("Temperature", temperature); | |
| 922 | ✗ | registerInputChannel("Out1", out1); | |
| 923 | ✗ | registerInputChannel("Out2", out2); | |
| 924 | } | ||
| 925 | |||
| 926 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 927 | { | ||
| 928 | ✗ | configurePort(sc, sdoIndex, portIdentity()); | |
| 929 | } | ||
| 930 | |||
| 931 | ✗ | bool addInputs( | |
| 932 | ec_slave_config_t *sc, | ||
| 933 | uint16_t pdoIndex, | ||
| 934 | uint16_t pdoEntryIndex, | ||
| 935 | Domain *) override | ||
| 936 | { | ||
| 937 | /* | ||
| 938 | * IO-Link Port1: process data, ARRAY OF USINT (64 or 96 bit, | ||
| 939 | * see portIdentity()) | ||
| 940 | */ | ||
| 941 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 942 | ✗ | stringstream err; | |
| 943 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 944 | ✗ | throw runtime_error(err.str()); | |
| 945 | } | ||
| 946 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 947 | ✗ | stringstream err; | |
| 948 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 949 | ✗ | throw runtime_error(err.str()); | |
| 950 | } | ||
| 951 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 952 | sc, pdoIndex, pdoEntryIndex, 0x01, | ||
| 953 | ✗ | portIdentity().processDataInBits)) { | |
| 954 | ✗ | stringstream err; | |
| 955 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 956 | ✗ | throw runtime_error(err.str()); | |
| 957 | } | ||
| 958 | |||
| 959 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 960 | ✗ | return true; | |
| 961 | } | ||
| 962 | |||
| 963 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 964 | { | ||
| 965 | ✗ | domainIn_ = domainIn; | |
| 966 | ✗ | offIn = ecrt_slave_config_reg_pdo_entry( | |
| 967 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 968 | ✗ | if (offIn < 0) { | |
| 969 | ✗ | stringstream err; | |
| 970 | ✗ | err << "Failed to register IfmSM7000 input PDO entry."; | |
| 971 | ✗ | throw runtime_error(err.str()); | |
| 972 | } | ||
| 973 | // IO-Link process data is transmitted MSB first, and the IODD | ||
| 974 | // bit offsets count from its end, so any bits beyond the known | ||
| 975 | // 64 are *leading* bytes that shift the known layout back. | ||
| 976 | ✗ | offValues = offIn + (portIdentity().processDataInBits - 64) / 8; | |
| 977 | } | ||
| 978 | |||
| 979 | ✗ | void updateInputs() override | |
| 980 | { | ||
| 981 | /* | ||
| 982 | * ifm-SM7000-20161103-IODD11-de.pdf, Gesamt Bitlaenge = 64 | ||
| 983 | * Totalisator: Float32T (IEEE754), unveraendert seit Reset, [l] | ||
| 984 | * Durchfluss: [l/min] (-6000 to 6000) * 0.01 | ||
| 985 | * Temperatur: 14 bit (LSB sind OUT1 und OUT2), * 0.1 degC | ||
| 986 | * These are the last 64 bit of the process data, see | ||
| 987 | * registerInputs(). | ||
| 988 | */ | ||
| 989 | ✗ | if (!domainIn_) { | |
| 990 | ✗ | return; | |
| 991 | } | ||
| 992 | ✗ | uint32_t totalBits = readBeU32(domainIn_->getData() + offValues); | |
| 993 | float totalLiters; | ||
| 994 | ✗ | std::memcpy(&totalLiters, &totalBits, sizeof(totalLiters)); | |
| 995 | ✗ | totalizer = totalLiters * 1e-3f; // l -> m^3 | |
| 996 | |||
| 997 | int16_t raw = | ||
| 998 | ✗ | int16_t(readBeU16(domainIn_->getData() + offValues + 4)); | |
| 999 | ✗ | flow = raw * 0.01f * LitersPerMinuteToSI; | |
| 1000 | |||
| 1001 | ✗ | uint16_t uraw = readBeU16(domainIn_->getData() + offValues + 6); | |
| 1002 | // arithmetic shift on the *signed* word sign-extends the 14-bit | ||
| 1003 | // temperature field correctly; OUT1/OUT2 are its two LSBs. | ||
| 1004 | ✗ | temperature = (static_cast<int16_t>(uraw) >> 2) * 0.1f; | |
| 1005 | ✗ | out1 = (uraw & 0x0001) != 0x0000; | |
| 1006 | ✗ | out2 = (uraw & 0x0002) != 0x0000; | |
| 1007 | } | ||
| 1008 | ✗ | void updateOutputs() override {} | |
| 1009 | |||
| 1010 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 1011 | { | ||
| 1012 | ✗ | return inputKinds_; | |
| 1013 | } | ||
| 1014 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 1015 | { | ||
| 1016 | ✗ | return outputKinds_; | |
| 1017 | } | ||
| 1018 | |||
| 1019 | protected: | ||
| 1020 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 1021 | { | ||
| 1022 | ✗ | switch (i) { | |
| 1023 | ✗ | case 0: | |
| 1024 | ✗ | return totalizer; | |
| 1025 | ✗ | case 1: | |
| 1026 | ✗ | return flow; | |
| 1027 | ✗ | case 2: | |
| 1028 | ✗ | return temperature; | |
| 1029 | ✗ | case 3: | |
| 1030 | ✗ | return out1; | |
| 1031 | ✗ | case 4: | |
| 1032 | ✗ | return out2; | |
| 1033 | ✗ | default: | |
| 1034 | ✗ | throw UnknownChannel("IfmSM7000: invalid channel index."); | |
| 1035 | } | ||
| 1036 | } | ||
| 1037 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 1038 | { | ||
| 1039 | ✗ | throw UnknownChannel("IfmSM7000 has no output channels."); | |
| 1040 | } | ||
| 1041 | |||
| 1042 | ✗ | virtual IoLinkPortIdentity portIdentity() const | |
| 1043 | { | ||
| 1044 | // ifm-SM7000-20161103-IODD11-de.pdf, page 1 ("SM") and page 2 | ||
| 1045 | // ("Gesamt Bitlaenge = 64") | ||
| 1046 | ✗ | IoLinkPortIdentity identity; | |
| 1047 | ✗ | identity.vendorId = 310; | |
| 1048 | ✗ | identity.deviceId = 0x00023C; | |
| 1049 | ✗ | identity.minCycleTimeMs = 5.0; | |
| 1050 | ✗ | identity.processDataInBits = 64; | |
| 1051 | ✗ | identity.sioSupported = true; | |
| 1052 | ✗ | identity.type1Supported = true; | |
| 1053 | ✗ | return identity; | |
| 1054 | } | ||
| 1055 | |||
| 1056 | private: | ||
| 1057 | int offIn = -1; | ||
| 1058 | int offValues = -1; | ||
| 1059 | float totalizer = 0.0f; // m^3 | ||
| 1060 | float flow = 0.0f; // m^3/s | ||
| 1061 | float temperature = 0.0f; // degC | ||
| 1062 | bool out1 = false; | ||
| 1063 | bool out2 = false; | ||
| 1064 | |||
| 1065 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 1066 | Domain *domainIn_ = nullptr; | ||
| 1067 | |||
| 1068 | std::vector<ChannelKind> inputKinds_ { | ||
| 1069 | {"Totalizer", 1, float(0)}, | ||
| 1070 | {"Flow", 1, float(0)}, | ||
| 1071 | {"Temperature", 1, float(0)}, | ||
| 1072 | {"Out1", 1, false}, | ||
| 1073 | {"Out2", 1, false}}; | ||
| 1074 | std::vector<ChannelKind> outputKinds_; | ||
| 1075 | }; | ||
| 1076 | |||
| 1077 | /****************************************************************************/ | ||
| 1078 | // ifm SM7000 with IO-Link V1.0 firmware and 96 bit process data, as | ||
| 1079 | // found on a live system. Neither the V1.1 IODD (see IfmSM7000) nor | ||
| 1080 | // ifm-00023C-20161103-IODD1.0.1.xml (64 bit, 5 ms) describes these | ||
| 1081 | // sensors; the port identity is what the EL6224 reads from them in | ||
| 1082 | // CoE 0x90n0 (revision 0x10, frame capability 0x03, min cycle time | ||
| 1083 | // 0x17 = 2.3 ms, PD in 0xcb = 12 bytes, Device ID 47, Vendor ID 0). | ||
| 1084 | // The process data was checked against live data: its last 64 bit | ||
| 1085 | // are the IfmSM7000 layout (totalizer, flow, temperature, OUT1/OUT2), | ||
| 1086 | // the leading 32 bit are of unknown meaning (0 so far) and are not | ||
| 1087 | // published. | ||
| 1088 | /****************************************************************************/ | ||
| 1089 | |||
| 1090 | ✗ | class IfmSM7000IOL10 : public IfmSM7000 | |
| 1091 | { | ||
| 1092 | public: | ||
| 1093 | ✗ | using IfmSM7000::IfmSM7000; | |
| 1094 | |||
| 1095 | protected: | ||
| 1096 | ✗ | IoLinkPortIdentity portIdentity() const override | |
| 1097 | { | ||
| 1098 | ✗ | IoLinkPortIdentity identity; | |
| 1099 | ✗ | identity.vendorId = 0; | |
| 1100 | ✗ | identity.deviceId = 47; | |
| 1101 | ✗ | identity.revisionMinor = 0; | |
| 1102 | ✗ | identity.minCycleTimeMs = 2.3; | |
| 1103 | ✗ | identity.processDataInBits = 96; | |
| 1104 | ✗ | identity.sioSupported = true; | |
| 1105 | ✗ | identity.type1Supported = true; | |
| 1106 | ✗ | return identity; | |
| 1107 | } | ||
| 1108 | }; | ||
| 1109 | |||
| 1110 | /****************************************************************************/ | ||
| 1111 | // ifm TA2105/TA2115/TA2135/TA2145/TA2345/TA2105/TA2405/TA2415/TA2435/ | ||
| 1112 | // TA2445 (temperature transmitter, inputs only). All nine order codes | ||
| 1113 | // share one IO-Link device profile (same Vendor/Device ID, identical | ||
| 1114 | // process data) and differ only mechanically (probe length, process | ||
| 1115 | // connection) -- see ifm-000179-20200114-IODD11-de.pdf, chapter 1. | ||
| 1116 | /****************************************************************************/ | ||
| 1117 | |||
| 1118 | ✗ | class IfmTATransmitter : public IoLinkDevice | |
| 1119 | { | ||
| 1120 | public: | ||
| 1121 | ✗ | IfmTATransmitter(pdserv *pdServ, pdtask *task, const string &prefix) : | |
| 1122 | ✗ | IoLinkDevice(pdServ, task, prefix) | |
| 1123 | { | ||
| 1124 | ✗ | registerInputChannel("Temperature", temperature); | |
| 1125 | } | ||
| 1126 | |||
| 1127 | ✗ | void addConfig(ec_slave_config_t *sc, uint16_t sdoIndex) override | |
| 1128 | { | ||
| 1129 | // ifm-000179-20200114-IODD11-de.pdf, chapter 2 | ||
| 1130 | // ("Kommunikation") and chapter 6.1 (process data). IO-Link | ||
| 1131 | // revision isn't spelt out as a field in this IODD, but the | ||
| 1132 | // "IO-Link 1.1 Systemtest" system commands imply V1.1 (the | ||
| 1133 | // default configurePort() assumes). | ||
| 1134 | ✗ | IoLinkPortIdentity identity; | |
| 1135 | ✗ | identity.vendorId = 310; | |
| 1136 | ✗ | identity.deviceId = 0x000179; | |
| 1137 | ✗ | identity.minCycleTimeMs = 2.3; | |
| 1138 | ✗ | identity.processDataInBits = 16; | |
| 1139 | ✗ | identity.sioSupported = false; | |
| 1140 | ✗ | configurePort(sc, sdoIndex, identity); | |
| 1141 | } | ||
| 1142 | |||
| 1143 | ✗ | bool addInputs( | |
| 1144 | ec_slave_config_t *sc, | ||
| 1145 | uint16_t pdoIndex, | ||
| 1146 | uint16_t pdoEntryIndex, | ||
| 1147 | Domain *) override | ||
| 1148 | { | ||
| 1149 | /* ifm TA2xxx Inputs | ||
| 1150 | * {0x6000, 0x01, 16}, Temperature (INT) | ||
| 1151 | */ | ||
| 1152 | ✗ | if (ecrt_slave_config_pdo_assign_add(sc, 3, pdoIndex)) { | |
| 1153 | ✗ | stringstream err; | |
| 1154 | ✗ | err << "Failed to assign PDO " << pdoIndex; | |
| 1155 | ✗ | throw runtime_error(err.str()); | |
| 1156 | } | ||
| 1157 | ✗ | if (ecrt_slave_config_pdo_mapping_clear(sc, pdoIndex)) { | |
| 1158 | ✗ | stringstream err; | |
| 1159 | ✗ | err << "Failed to clear PDO mapping of " << pdoIndex; | |
| 1160 | ✗ | throw runtime_error(err.str()); | |
| 1161 | } | ||
| 1162 | ✗ | if (ecrt_slave_config_pdo_mapping_add( | |
| 1163 | ✗ | sc, pdoIndex, pdoEntryIndex, 0x01, 16)) { | |
| 1164 | ✗ | stringstream err; | |
| 1165 | ✗ | err << "Failed to map PDO entry in " << pdoIndex; | |
| 1166 | ✗ | throw runtime_error(err.str()); | |
| 1167 | } | ||
| 1168 | |||
| 1169 | ✗ | inputPdoEntryIndex = pdoEntryIndex; | |
| 1170 | ✗ | return true; | |
| 1171 | } | ||
| 1172 | |||
| 1173 | ✗ | void registerInputs(ec_slave_config_t *sc, Domain *domainIn) override | |
| 1174 | { | ||
| 1175 | ✗ | domainIn_ = domainIn; | |
| 1176 | ✗ | offTemp = ecrt_slave_config_reg_pdo_entry( | |
| 1177 | ✗ | sc, inputPdoEntryIndex, 0x01, domainIn->getDomain(), NULL); | |
| 1178 | ✗ | if (offTemp < 0) { | |
| 1179 | ✗ | stringstream err; | |
| 1180 | ✗ | err << "Failed to register IfmTATransmitter input PDO entry."; | |
| 1181 | ✗ | throw runtime_error(err.str()); | |
| 1182 | } | ||
| 1183 | } | ||
| 1184 | |||
| 1185 | ✗ | void updateInputs() override | |
| 1186 | { | ||
| 1187 | /* | ||
| 1188 | * ifm-000179-20200114-IODD11-de.pdf, chapter 6.1 | ||
| 1189 | * Temperatur: [degC] (-536 to 1574) * 0.1 | ||
| 1190 | */ | ||
| 1191 | ✗ | if (!domainIn_) { | |
| 1192 | ✗ | return; | |
| 1193 | } | ||
| 1194 | ✗ | int16_t raw = int16_t(readBeU16(domainIn_->getData() + offTemp)); | |
| 1195 | ✗ | temperature = raw * 0.1f; | |
| 1196 | } | ||
| 1197 | ✗ | void updateOutputs() override {} | |
| 1198 | |||
| 1199 | ✗ | const std::vector<ChannelKind> &inputKinds() const override | |
| 1200 | { | ||
| 1201 | ✗ | return inputKinds_; | |
| 1202 | } | ||
| 1203 | ✗ | const std::vector<ChannelKind> &outputKinds() const override | |
| 1204 | { | ||
| 1205 | ✗ | return outputKinds_; | |
| 1206 | } | ||
| 1207 | |||
| 1208 | protected: | ||
| 1209 | ✗ | ChannelValue getInputAt(size_t i) const override | |
| 1210 | { | ||
| 1211 | ✗ | switch (i) { | |
| 1212 | ✗ | case 0: | |
| 1213 | ✗ | return temperature; | |
| 1214 | ✗ | default: | |
| 1215 | throw UnknownChannel( | ||
| 1216 | ✗ | "IfmTATransmitter: invalid channel index."); | |
| 1217 | } | ||
| 1218 | } | ||
| 1219 | ✗ | void setOutputAt(size_t, const ChannelValue &) override | |
| 1220 | { | ||
| 1221 | ✗ | throw UnknownChannel("IfmTATransmitter has no output channels."); | |
| 1222 | } | ||
| 1223 | |||
| 1224 | private: | ||
| 1225 | int offTemp = -1; | ||
| 1226 | float temperature = 0.0f; // degC | ||
| 1227 | |||
| 1228 | uint16_t inputPdoEntryIndex = 0x0000; | ||
| 1229 | Domain *domainIn_ = nullptr; | ||
| 1230 | |||
| 1231 | std::vector<ChannelKind> inputKinds_ {{"Temperature", 1, float(0)}}; | ||
| 1232 | std::vector<ChannelKind> outputKinds_; | ||
| 1233 | }; | ||
| 1234 | |||
| 1235 | /****************************************************************************/ | ||
| 1236 | |||
| 1237 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
13 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SU6020", IfmSU6020); |
| 1238 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SU8020", IfmSU8020); |
| 1239 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-PV8004", IfmPV8004); |
| 1240 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-DV2131", IfmDV2131); |
| 1241 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SM4000", IfmSM4000); |
| 1242 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SM7000", IfmSM7000); |
| 1243 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-SM7000-IOL10", IfmSM7000IOL10); |
| 1244 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2105", IfmTATransmitter); |
| 1245 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2115", IfmTATransmitter); |
| 1246 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2135", IfmTATransmitter); |
| 1247 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2145", IfmTATransmitter); |
| 1248 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2345", IfmTATransmitter); |
| 1249 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2405", IfmTATransmitter); |
| 1250 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2415", IfmTATransmitter); |
| 1251 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2435", IfmTATransmitter); |
| 1252 |
4/8✓ Branch 1 taken 12 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 12 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 12 times.
✗ Branch 10 not taken.
✓ Branch 12 taken 12 times.
✗ Branch 13 not taken.
|
12 | ECAPP_REGISTER_IOLINK_DEVICE("ifm-TA2445", IfmTATransmitter); |
| 1253 | |||
| 1254 | 36 | } // namespace EcApp | |
| 1255 | |||
| 1256 | /****************************************************************************/ | ||
| 1257 |