GCC Code Coverage Report

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			* SEW Movitrac frequency inverter. A single fixed product (no Type
22			* enum, unlike the Ex-family terminals): every channel is its own
23			* distinctly-named scalar, not a repeated kind, matching the ifm
24			* IO-Link drivers' shape more than the Beckhoff digital/analog
25			* families'.
26			*
27			****************************************************************************/
28
29			#ifndef ECAPP_MOVITRAC_H
30			#define ECAPP_MOVITRAC_H
31
32			/****************************************************************************/
33
34			#include "ecapp/Mode.h"
35
36			#include <ecrt.h> // EtherCAT realtime interface
37			#include <pdserv.h>
38			#include <stdint.h>
39			#include <string>
40
41			/****************************************************************************/
42
43			namespace EcApp {
44
45			class Master;
46			class Domain;
47
48			template <Mode mode>
49			class Movitrac
50			{
51			public:
52			Movitrac(
53			pdserv *,
54			pdtask *,
55			const std::string &,
56			Master *,
57			uint16_t,
58			uint16_t,
59			Domain *,
60			Domain *);
61
62			void updateInputs();
63			void updateOutputs();
64
65			/** Broader "something is wrong" check than the FaultFlag
66			* channel alone -- also true while not ready, or with no
67			* device state at all. What bda's own control logic actually
68			* uses to decide whether this drive has a problem. */
69		1	bool getFault() const
70			{
71	2/12 ✓ Branch 0 taken 1 times. ✗ Branch 1 not taken. ✗ Branch 2 not taken. ✓ Branch 3 taken 1 times. ✗ Branch 4 not taken. ✗ Branch 5 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 8 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 11 not taken.	1	return faultFlag \|\| !status1Ready \|\| deviceState == 0;
72			}
73
74			void setEnableMotor(bool);
75			void setTargetSpeed(double);
76
77		1	uint16_t getStatusWord() const { return statusWord; }
78		✗	double getCurrentSpeed() const { return currentSpeed; }
79		✗	bool getStatus0Enabled() const { return status0Enabled; }
80		✗	bool getStatus1Ready() const { return status1Ready; }
81		✗	bool getStatus2PaDataEnabled() const { return status2PaDataEnabled; }
82		✗	bool getStatus5FaultWarning() const { return status5FaultWarning; }
83		1	bool getFaultFlag() const { return faultFlag; }
84		✗	bool getWarning() const { return warning; }
85		✗	uint8_t getDeviceState() const { return deviceState; }
86		✗	uint8_t getErrorNumber() const { return errorNumber; }
87
88			private:
89			ec_slave_config_t *sc;
90			Domain *const domainOut;
91			Domain *const domainIn;
92
93			int offControl;
94			int offTargetSpeed;
95			int offStatus;
96			int offCurrentSpeed;
97
98			bool enable;
99			uint16_t controlWord;
100			uint16_t statusWord;
101			double targetSpeed;
102			double currentSpeed;
103			double speedScale;
104
105			bool enableForcing;
106			uint16_t forcedControlWord;
107			double forcedTargetSpeed;
108			uint16_t effControlWord;
109			double effTargetSpeed;
110			int16_t rawTargetSpeed;
111
112			bool status0Enabled;
113			bool status1Ready;
114			bool status2PaDataEnabled;
115			bool status5FaultWarning;
116			bool faultFlag;
117			bool warning;
118			uint8_t deviceState;
119			uint8_t errorNumber;
120			};
121
122			} // namespace EcApp
123
124			#endif // ECAPP_MOVITRAC_H
125
126			/****************************************************************************/
127