block_beckhoff_el2xxx.c 7.15 KB
Newer Older
Jeroen Vreeken's avatar
Jeroen Vreeken committed
1
/*
2
	Copyright Jeroen Vreeken (pe1rxq@amsat.org), 2009, 2011, 2013
Jeroen Vreeken's avatar
Jeroen Vreeken committed
3
	Copyright Stichting C.A. Muller Radioastronomiestation, 2009, 2011
4
	Copyright Daan Vreeken <Daan@Vitsch.nl> - Vitsch Electronics, 2010
Jeroen Vreeken's avatar
Jeroen Vreeken committed
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

	This program is free software: you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation, either version 3 of the License, or
	(at your option) any later version.

	This program is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with this program.  If not, see <http://www.gnu.org/licenses/>.

 */

#include <stdlib.h>
22
#include <string.h> 
Jeroen Vreeken's avatar
Jeroen Vreeken committed
23
24
25
26
27
28

#include <controller/controller_block.h>

#include "block_beckhoff_el2xxx.h"
#include "ec.h"
#include "esc.h"
29
#include "log.h"
Jeroen Vreeken's avatar
Jeroen Vreeken committed
30
31
32
33
34
35
36
37
38
39
40
41

struct controller_block_private {
	bool	*output1;
	bool	*output2;
	bool	*output3;
	bool	*output4;
	bool	*output5;
	bool	*output6;
	bool	*output7;
	bool	*output8;
	
	unsigned char *tx_buffer;
42
43

	struct esc_device *dev;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
};

static void calculate_8(struct controller_block *block)
{
	struct controller_block_private *priv = block->private;
	
	priv->tx_buffer[0] =
		*priv->output1 |
		(*priv->output2 << 1) |
		(*priv->output3 << 2) |
		(*priv->output4 << 3) |
		(*priv->output5 << 4) |
		(*priv->output6 << 5) |
		(*priv->output7 << 6) |
		(*priv->output8 << 7);

	ec_tx_pdo(controller_samplenr);
}

static void calculate_4(struct controller_block *block)
{
	struct controller_block_private *priv = block->private;
	
	priv->tx_buffer[0] =
		*priv->output1 |
		(*priv->output2 << 1) |
		(*priv->output3 << 2) |
		(*priv->output4 << 3);

	ec_tx_pdo(controller_samplenr);
}

static void calculate_2(struct controller_block *block)
{
	struct controller_block_private *priv = block->private;
	
	priv->tx_buffer[0] =
		*priv->output1 |
		(*priv->output2 << 1);

	ec_tx_pdo(controller_samplenr);
}

struct beckhoff_el2xxx_type {
	char *name;
	uint32_t productcode;
	int outputs;
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
	struct controller_block_interm_list *interms;
};

static struct controller_block_interm_list interms_2[] = {
	{ "output1",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output1)  },
	{ "output2",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output2)  },
	{ NULL },
};

static struct controller_block_interm_list interms_4[] = {
	{ "output1",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output1)  },
	{ "output2",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output2)  },
	{ "output3",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output3)  },
	{ "output4",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output4)  },
	{ NULL },
};

static struct controller_block_interm_list interms_8[] = {
	{ "output1",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output1)  },
	{ "output2",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output2)  },
	{ "output3",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output3)  },
	{ "output4",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output4)  },
	{ "output5",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output5)  },
	{ "output6",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output6)  },
	{ "output7",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output7)  },
	{ "output8",  CONTROLLER_BLOCK_TERM_BOOL, offsetof(struct controller_block_private, output8)  },
	{ NULL },
Jeroen Vreeken's avatar
Jeroen Vreeken committed
118
119
120
};

static struct beckhoff_el2xxx_type devlist[] = {
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
	{ "EL2002", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2002, 2, interms_2 },
	{ "EL2004", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2004, 4, interms_4 },
	{ "EL2008", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2008, 8, interms_8 },
	{ "EL2022", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2022, 2, interms_2 },
	{ "EL2024", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2024, 4, interms_4 },
	{ "EL2032", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2032, 2, interms_2 },
	{ "EL2034", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2034, 4, interms_4 },
	{ "EL2042", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2042, 2, interms_2 },
	{ "EL2084", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2084, 4, interms_4 },
	{ "EL2088", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2088, 8, interms_8 },
	{ "EL2124", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2124, 4, interms_4 },
	{ "EL2202", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2202, 2, interms_2 },
	{ "EL2252", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2252, 2, interms_2 },
	{ "EL2262", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2262, 2, interms_2 },
	{ "EL2602", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2602, 2, interms_2 },
	{ "EL2612", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2612, 2, interms_2 },
	{ "EL2622", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2622, 2, interms_2 },
	{ "EL2624", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2624, 4, interms_4 },
	{ "EL2712", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2712, 2, interms_2 },
	{ "EL2722", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2722, 2, interms_2 },
	{ "EL2732", ESC_ESI_PRODUCTCODE_BECKHOFF_EL2732, 2, interms_2 },
Jeroen Vreeken's avatar
Jeroen Vreeken committed
142
143
144
145
146
147
148
149
150
151
152
};

struct controller_block * block_beckhoff_el2xxx_create(char *name, va_list ap)
{
	struct controller_block *block;
	struct ec_dgram_addr addr;
	int i;
	int dev = -1;
	char *eltype;
	int devno;
	bool sim = !ec_initialized();
153
	struct timespec timeout = { 1, 0 };
Jeroen Vreeken's avatar
Jeroen Vreeken committed
154
155
156
157
158
159
160
161
162
163
164
		
	eltype = va_arg(ap, char *);
	devno = va_arg(ap, int);
	
	for (i = 0; i < sizeof(devlist)/sizeof(struct beckhoff_el2xxx_type); i++) {
		if (!strcmp(eltype, devlist[i].name)) {
			dev = i;
			break;
		}
	}
	if (dev < 0)
165
		goto err_ethercat;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
166
167
	
	if (!sim) {
168
169
170
171
172
173
174
175
		uint32_t vendor, product;
		
		ec_addr_set_auto_inc_nr(&addr, devno);
		vendor = esc_esi_vendorid_get(&addr);
		product = esc_esi_productcode_get(&addr);

		if (vendor != ESC_ESI_VENDORID_BECKHOFF ||
		    product != devlist[dev].productcode) {
176
177
			log_send(LOG_T_ERROR, "%s: Device not found\n", name);
			goto err_ethercat;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
178
179
180
		}
	}
	
181
182
183
	block = controller_block_alloc(
	    sim ? "beckhoff_el2xxx_sim" : "beckhoff_el2xxx",
	    name, sizeof(struct controller_block_private));
Jeroen Vreeken's avatar
Jeroen Vreeken committed
184
185

	if (!sim) {
186
187
188
		block->private->dev = esc_esi_device_create(&addr);
	
		block->private->tx_buffer = block->private->dev->tx_data;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
189

190
191
192
193
		if (esc_al_state_set(&addr, ESC_AL_STATE_SAFE_OPERATIONAL, &timeout) < 0)
			log_send(LOG_T_ERROR, "Could not go to state safe operational\n");
		if (esc_al_state_set(&addr, ESC_AL_STATE_OPERATIONAL, &timeout) < 0)
			log_send(LOG_T_ERROR, "Could not go to state safe operational\n");
194
195
		log_send(LOG_T_DEBUG, "state: %d", esc_al_state_get(&addr));
		log_send(LOG_T_DEBUG, "statuscode: %d", esc_al_status_code_get(&addr));
Jeroen Vreeken's avatar
Jeroen Vreeken committed
196
197
198
	}
	
	/* Outputs on the hardware are inputs on this software block */
199
200
	if (controller_block_interm_list_init(block, devlist[dev].interms))
		goto err_inputs;	
Jeroen Vreeken's avatar
Jeroen Vreeken committed
201
202
203
204
205
206
207
208
209
210
	
	switch (devlist[dev].outputs) {
		case 2:
			block->calculate = calculate_2;
			break;
		case 4:
			block->calculate = calculate_4;
			break;
		case 8:
			block->calculate = calculate_8;
211
			break;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
212
213
214
215
216
217
	}
	if (sim)
		block->calculate = NULL;

	controller_block_add(block);
	return block;
218
219
220
221
222

err_inputs:
	controller_block_free(block);
err_ethercat:
	return NULL;
Jeroen Vreeken's avatar
Jeroen Vreeken committed
223
}